SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation
Ruida Zhang,Yan Di,Fabian Manhardt,Federico Tombari,Xiangyang Ji,Ruida Zhang,Yan Di,Fabian Manhardt,Federico Tombari,Xiangyang Ji
Category-level pose estimation is a challenging problem due to intra-class shape variations. Recent methods deform pre-computed shape priors to map the observed point cloud into the normalized object coordinate space and then retrieve the pose via post-processing, i.e., Umeyama's Algorithm. The shortcomings of this two-stage strategy lie in two aspects: 1) The surrogate supervision on the intermed...
