Detect Globally, Label Locally: Learning Accurate 6-DOF Object Pose Estimation by Joint Segmentation and Coordinate Regression

@article{Nigam2018DetectGL,
  title={Detect Globally, Label Locally: Learning Accurate 6-DOF Object Pose Estimation by Joint Segmentation and Coordinate Regression},
  author={Apurv Nigam and Adrian Penate-Sanchez and Lourdes Agapito},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={3960-3967}
}
Coordinate regression has established itself as one of the most successful current trends in model-based 6 degree of freedom (6-DOF) object pose estimation from a single image. The underlying idea is to train a system that can regress the three-dimensional coordinates of an object, given an input RGB or RGB-D image and known object geometry, followed by a robust procedure such as RANSAC to optimize the object pose. These coordinate regression based approaches exhibit state-of-the-art… CONTINUE READING

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