Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data

  title={Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data},
  author={Fabian Manhardt and Diego Mart{\'i}n Arroyo and C. Rupprecht and Benjamin Busam and Nassir Navab and Federico Tombari},
  journal={2019 IEEE/CVF International Conference on Computer Vision (ICCV)},
3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in both detection and pose estimation means that an object instance can be perfectly described by several different poses and even classes. In this work we propose to explicitly deal with these ambiguities. For each object instance we predict multiple 6D pose… 

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