PVN3D: A Deep Point-Wise 3D Keypoints Voting Network for 6DoF Pose Estimation
PVN3D: A Deep Point-Wise 3D Keypoints Voting Network for 6DoF Pose Estimation
In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based approach. Specifically, we propose a deep Hough voting network to detect 3D keypoints of …