Multi-View Keypoints for Reliable 6D Object Pose Estimation
Alan Li,Angela P. Schoellig,Alan Li,Angela P. Schoellig
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. 6D pose estimation is particularly challenging in bin- picking applications, where many objects are low-feature and reflective, and self-occlusion between objects of the same type is common. We propose a novel multi-view approach leveraging known camera transformations from an eye-...
