RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recovery
Jiaxin Wei,Xibin Song,Weizhe Liu,Laurent Kneip,Hongdong Li,Pan Ji,Jiaxin Wei,Xibin Song,Weizhe Liu,Laurent Kneip,Hongdong Li,Pan Ji
While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet suffer from inherent scale ambiguity stemming from monocular observations. In this paper, we propose a novel pipeline that decouples the 6D pose and size estimati...
