CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
Muhammad Zubair Irshad,Thomas Kollar,Michael Laskey,Kevin Stone,Zsolt Kira,Muhammad Zubair Irshad,Thomas Kollar,Michael Laskey,Kevin Stone,Zsolt Kira
This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance- level pose estimation, we focus on a more challenging problem where CAD models are not available at inference time. Existing approaches mainly follow a complex multi-stage pipeline which first localizes and detects each objec...
