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Improved object orientation by doing keypoint correspondences iteratively with BD-PnP

Improved object orientation by doing keypoint correspondences iteratively with BD-PnP


Coupled Iterative Refinement for 6D Multi-Object Pose Estimation



... address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, ... detect and estimate the 6D pose of each object.


... propose a new approach ... consists of an end-to-end differentiable architecture that makes use of geometric knowledge.


... approach iteratively refines both pose and correspondence in a tightly coupled manner, allowing us to dynamically remove outliers to improve accuracy.


... use a novel differentiable layer to perform pose refinement by solving an optimization problem ... refer to as Bidirectional Depth-Augmented Perspective-N-Point (BD-PnP).


... method achieves state-of-the-art accuracy on standard 6D Object Pose benchmarks. ...



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