PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation

11 Nov 2019Yisheng HeWei SunHaibin HuangJianran LiuHaoqiang FanJian Sun

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based approach... (read more)

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Evaluation Results from the Paper


TASK DATASET MODEL METRIC NAME METRIC VALUE GLOBAL RANK COMPARE
6D Pose Estimation LineMOD PVN3D Accuracy (ADD) 99.4 # 1
6D Pose Estimation YCB-Video PVN3D ADDS AUC 96.1 # 1