RNNPose: 6-DoF Object Pose Estimation via Recurrent Correspondence Field Estimation and Pose Optimization
Yan Xu,
Kwan-Yee Lin,
Guofeng Zhang
et al.
Abstract:6-DoF object pose estimation from a monocular image is a challenging problem, where a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework, dubbed RNNPose, based on a recurrent neural network (RNN) for object pose refinement, which is robust to erroneous initial poses and occlusions. During the recurrent iterations, object pose refinement is formulated as a non-linear least squares problem based on the estimated correspondence field (between a rende… Show more
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