CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
IEEE International Conference on Robotics and Automation（2022）
关键词
single-shot multiobject 3D shape reconstruction,categorical 6D pose,complex task,simultaneous multiobject 3D reconstruction,single-view RGB-D observation,instance- level pose estimation,complex multistage pipeline,object instance,complex multiobject scenarios,one- stage approach,method treats object,complete shape,single-forward pass,shape completion,size estimation baselines,12.6% absolute improvement,real-world object instances
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