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SpyroPose: Importance Sampling Pyramids for Object Pose Distribution Estimation in SE(3)
Pose estimation is usually approached by seeking the single best estimate of an object's pose, but this approach is ill-suited for tasks involving visual ambiguity.
Multi-view object pose estimation from correspondence distributions and epipolar geometry
We present a multi-view pose estimation method which aggregates learned 2D-3D distributions from multiple views for both the initial estimate and optional refinement.
Ki-Pode: Keypoint-based Implicit Pose Distribution Estimation of Rigid Objects
However, a single estimate is unable to express visual ambiguity, which in many cases is unavoidable due to object symmetries or occlusion of identifying features.
SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddings
We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry.
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