PVNet | Object Pose Estimation

Object Pose Estimation · 2019 · CVPR · CCF A

PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation

Localizes 2D keypoints through pixelwise direction voting, then solves pose with PnP, improving keypoint stability under occlusion.

Paper Code

Research area

Object Pose Estimation

Task level

Instance-level

Object setting

Seen objects

Input modalities

RGB

Requirements

camera intrinsicsCAD model2D object mask/crop

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

Authors: Sida Peng, Yuan Liu, Qixing Huang, Xiaowei Zhou, Hujun Bao
Affiliations: Zhejiang University
Conference / journal: Conference · CVPR · CCF A
Research area: Object Pose Estimation
Code availability: Code available
Reading status: Overview:Available Deep Dive:Available
Task setting: Instance-level · Seen objects
Datasets: LINEMOD Occlusion LINEMOD
Evaluation metrics: ADD ADD-S 2D Projection
Method tags: Keypoints + PnP Instance-level Pose Estimation Absolute Pose Estimation
Requirements: camera intrinsicsCAD model2D object mask/crop

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