CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation

arXiv:2211.13398v3 Announce Type: replace-cross
Abstract: Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demonstrated commendable performance, the procurement of such real training data incurs substantial costs. This paper focuses on a specific setting wherein only 3D CAD models are utilized as a priori knowledge, devoid of any background or clutter information. We introduce a novel method, CPPF++, designed for sim-to-real pose estimation. This method builds …

aggregation arxiv cs.cv cs.lg object type uncertainty vote