Single-Stage Keypoint- Based Category-Level Object Pose Estimation from an RGB Image
Yunzhi Lin,Jonathan Tremblay,Stephen Tyree,Patricio A. Vela,Stan Birchfield,Yunzhi Lin,Jonathan Tremblay,Stephen Tyree,Patricio A. Vela,Stan Birchfield
Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6- DoF pose estimation represents an important step toward developing robotic vision systems that operate in unstructured, real-world scenarios. In this work, we propose a single-stage, keypoint-based approach for cat...
