PVN3D | Object Pose Estimation

Object Pose Estimation · 2020 · CVPR · CCF A

PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation

Performs pointwise 3D keypoint Hough voting on point clouds, then fits poses by least squares, addressing clutter and occlusion in RGB-D multi-object scenes.

Paper Code

Research area

Object Pose Estimation

Task level

Instance-level

Object setting

Seen objects

Input modalities

RGB-Dpoint cloud

Requirements

camera intrinsicsdepthobject maskCAD model

Full paper metadata Authors, affiliations, research area, datasets, metrics, method tags, and reading status Expand

Authors: Yisheng He, Wei Sun, Haibin Huang, Jianran Liu, Haoqiang Fan, Jian Sun
Affiliations: Megvii Technology / Tsinghua University
Conference / journal: Conference · CVPR · CCF A
Research area: Object Pose Estimation
Code availability: Code available
Reading status: Overview:Pending Deep Dive:Pending
Task setting: Instance-level · Seen objects
Datasets: YCB-Video LINEMOD
Evaluation metrics: ADD ADD-S
Method tags: Keypoints + PnP Dense Correspondences & Coordinate Fields Multi-object Pose Estimation Instance-level Pose Estimation Absolute Pose Estimation
Requirements: camera intrinsicsdepthobject maskCAD model

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