Joint Learning of Pose Regression and Denoising Diffusion with Score Scaling Sampling for Category-level 6D Pose Estimation

Abstract

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during training, learning its encoder with the diffusion denoising network in end-to-end fashion, and require an additional network that evaluates sampled pose hypotheses to filter out low-quality pose candidates. In this paper, we propose a novel pipeline that tackles these limitations by two key components. First, the proposed method pretrains the encoder with the direct pose regression head, and jointly learns the networks via the regression head and the denoising diffusion head, significantly accelerating training convergence while achieving higher accuracy. Second, sampling guidance via time-dependent score scaling is proposed s.t. the exploration-exploitation trade-off is effectively taken, eliminating the need for the additional evaluation network. The sampling guidance maintains multi-modal characteristics of symmetric objects at early denoising steps while ensuring high-quality pose generation at final steps. Extensive experiments on multiple benchmarks including REAL275, HouseCat6D, and ROPE, demonstrate that the proposed method, simple yet effective, achieves state-of-the-art accuracies even with single-pose inference, while being more efficient in both training and inference.