This paper addresses the challenge of 6DoF pose estimation from a single RGB image under severe occlusion or truncation. Many recent works have shown that a two-stage approach, which first detects keypoints and then solves a Perspective-n-Point (PnP) problem for pose estimation, achieves remarkable performance. However, most of these methods only localize a set of sparse keypoints by regressing their image coordinates or heatmaps, which are sensitive to occlusion and truncation. Instead, we introduce a Pixel-wise Voting Network (PVNet) to regress pixel-wise unit vectors pointing to the keypoints and use these vectors to vote for keypoint locations using RANSAC. This creates a flexible representation for localizing occluded or truncated keypoints. Another important feature of this representation is that it provides uncertainties of keypoint locations that can be further leveraged by the PnP solver. Experiments show that the proposed approach outperforms the state of the art on the LINEMOD, Occlusion LINEMOD and YCB-Video datasets by a large margin, while being efficient for real-time pose estimation. We further create a Truncation LINEMOD dataset to validate the robustness of our approach against truncation. The code will be avaliable at

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In this paper, we introduce a novel approach to mesh editing with the Poisson equation as the theoretical foundation. The most distinctive feature of this approach is that it modifies the original mesh geometry implicitly through gradient field manipulation. Our approach can produce desirable and pleasing results for both global and local editing operations, such as deformation, object merging, and smoothing. With the help from a few novel interactive tools, these operations can be performed conveniently with a small amount of user interaction. Our technique has three key components, a basic mesh solver based on the Poisson equation, a gradient field manipulation scheme using local transforms, and a generalized boundary condition representation based on local frames. Experimental results indicate that our framework can outperform previous related mesh editing techniques.

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