GMatch: A Lightweight, Geometry-Constrained Keypoint Matcher for Zero-Shot 6DoF Pose Estimation in Robotic Grasp Tasks

• URL: http://arxiv.org/abs/2505.16144v2
• Date: Sun, 19 Oct 2025 00:56:47 GMT
• Title: GMatch: A Lightweight, Geometry-Constrained Keypoint Matcher for Zero-Shot 6DoF Pose Estimation in Robotic Grasp Tasks
• Authors: Ming Yang, Haoran Li,
• Abstract summary: 6DoF object pose estimation is fundamental to robotic grasp tasks.<n>GMatch is a lightweight, geometry-constrained keypoint matcher that can run efficiently on embedded CPU-only platforms.
• Score: 9.107487205419604
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 6DoF object pose estimation is fundamental to robotic grasp tasks. While recent learning-based methods achieve high accuracy, their computational demands hinder deployment on resource-constrained mobile platforms. In this work, we revisit the classical keypoint matching paradigm and propose GMatch, a lightweight, geometry-constrained keypoint matcher that can run efficiently on embedded CPU-only platforms. GMatch works with keypoint descriptors and it uses a set of geometric constraints to establishes inherent ambiguities between features extracted by descriptors, thus giving a globally consistent correspondences from which 6DoF pose can be easily solved. We benchmark GMatch on the HOPE and YCB-Video datasets, where our method beats existing keypoint matchers (both feature-based and geometry-based) among three commonly used descriptors and approaches the SOTA zero-shot method on texture-rich objects with much more humble devices. The method is further deployed on a LoCoBot mobile manipulator, enabling a one-shot grasp pipeline that demonstrates high task success rates in real-world experiments. In a word, by its lightweight and white-box nature, GMatch offers a practical solution for resource-limited robotic systems, and although currently bottlenecked by descriptor quality, the framework presents a promising direction towards robust yet efficient pose estimation. Code will be released soon under Mozilla Public License.

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