Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image. (arXiv:2109.06161v2 [cs.CV] UPDATED)

Web: http://arxiv.org/abs/2109.06161

Prior work on 6-DoF object pose estimation has largely focused on
instance-level processing, in which a textured CAD model is available for each
object being detected. Category-level 6-DoF pose estimation represents an
important step toward developing robotic vision systems that operate in
unstructured, real-world scenarios. In this work, we propose a single-stage,
keypoint-based approach for category-level object pose estimation that operates
on unknown object instances within a known category using a single RGB image as
input. The proposed network performs …

arxiv category- cv image stage