Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation

@inproceedings{Wang2019NormalizedOC,
  title={Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation},
  author={He Wang and Srinath Sridhar and Jingwei Huang and Julien Valentin and Shuran Song and Leonidas J. Guibas},
  booktitle={CVPR},
  year={2019}
}
The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during either training or testing time. To handle different and unseen object instances in a given category, we introduce a Normalized Object Coordinate Space (NOCS)---a shared canonical representation for all possible object instances within a category. Our region… CONTINUE READING
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