• Corpus ID: 208138925

Fast 3D Pose Refinement with RGB Images

@article{Jain2019Fast3P,
  title={Fast 3D Pose Refinement with RGB Images},
  author={Abhinav Jain and Frank Dellaert},
  journal={ArXiv},
  year={2019},
  volume={abs/1911.07347}
}
Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated structures and long inference times. While highly robust, they require computing power often unavailable on mobile robots. We propose a CNN-based pose refinement system which takes a coarsely estimated 3D pose from a computationally cheaper algorithm along with a… 
1 Citations
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