Non-Penetration Iterative Closest Points for Single-View Multi-Object 6D Pose Estimation
Mengchao Zhang,Kris Hauser,Mengchao Zhang,Kris Hauser
This paper presents a novel iterative closest points (ICP) variant, non-penetration iterative closest points (NPICP), which prevents interpenetration in 6DOF pose optimization and/or joint optimization of multiple object poses. This capability is particularly advantageous in cluttered scenarios, where there are many interactions between objects that constrain the space of valid poses. We use a sem...
