Robust 6D Object Pose Estimation by Learning RGB-D Features
Meng Tian,Liang Pan,Marcelo H Ang,Gim Hee Lee,Meng Tian,Liang Pan,Marcelo H Ang,Gim Hee Lee
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of symmetric objects. In this work, we propose a novel discrete- continuous formulation for rotation regression to resolve this local-optimum problem. We uniformly samp...
