Domain Adaptation on Point Clouds for 6D Pose Estimation in Bin-Picking Scenarios
Liang Zhao,Meng Sun,Wei Jie Lv,Xin Yu Zhang,Long Zeng,Liang Zhao,Meng Sun,Wei Jie Lv,Xin Yu Zhang,Long Zeng
Training with simulated data is a common approach in pose estimation research. However, a sim-to-real gap between clean simulated data and noisy real data will seriously weaken the generalization ability of the algorithm, especially for point clouds. To address this problem, this paper proposes a domain adaptive pose estimation network (DAPE-Net). For the feature extracted from the backbone, the n...
