RGB-D cross-fusion keypoint heatmap regression reaches 92.41% mean ADD accuracy on LINEMOD, outperforming the 84.50% RGB-only baseline.
Detecting object surface key- points from a single rgb image via deep learning network for 6-dof pose estimation.IEEE Access, 9:77729–77741
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6D Pose Estimation via Keypoint Heatmap Regression with RGB-D Residual Neural Networks
RGB-D cross-fusion keypoint heatmap regression reaches 92.41% mean ADD accuracy on LINEMOD, outperforming the 84.50% RGB-only baseline.