2022
DOI: 10.48550/arxiv.2201.00059
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iCaps: Iterative Category-level Object Pose and Shape Estimation

Abstract: This paper proposes a category-level 6D object pose and shape estimation approach iCaps 1 , which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using depth images as input, where feature embeddings from the auto-encoder encode poses of objects in a category. The auto-encoder can be used in a particle filter framework to estimate and track 6D poses of objects in a category. By exploiting an implicit shape representation … Show more

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