KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimation
Xingyu Liu,Shun Iwase,Kris M. Kitani,Xingyu Liu,Shun Iwase,Kris M. Kitani
We present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose estimation, which achieves leading performance. However, such voting process is direction-based and cannot handle long and thin objects where the direction inte...
