Shape Prior Deformation for Categorical 6D Object Pose and Size Estimation

@article{Tian2020ShapePD,
  title={Shape Prior Deformation for Categorical 6D Object Pose and Size Estimation},
  author={Meng Tian and Marcelo H. Ang and Gim Hee Lee},
  journal={ArXiv},
  year={2020},
  volume={abs/2007.08454}
}
We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly modeling the deformation from a pre-learned categorical shape prior. Additionally, our network infers the dense correspondences between the depth observation of the object instance and the reconstructed 3D model to jointly estimate the 6D object pose and size… 

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