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PointVoteNet: Accurate Object Detection and 6 DoF Pose Estimation in Point Clouds

2020-06-17 12:00:38
Frederik Hagelskjær, Anders Glent Buch
arXiv_CV
           
Abstract

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using depth data. Our method consumes unordered point sets with/without RGB information, from initial detection to the final transformation estimation stage. This allows us to achieve accurate pose estimates, in some cases surpassing state of the art methods trained on the same data.

Abstract (translated)

URL

https://arxiv.org/abs/1912.09057

PDF

https://arxiv.org/pdf/1912.09057.pdf

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