A diffusion model on SE(3) with an equivariant point-cloud encoder estimates 6D object poses from depth images, and two simple heuristics select the best of multiple sampled hypotheses.
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Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models
A diffusion model on SE(3) with an equivariant point-cloud encoder estimates 6D object poses from depth images, and two simple heuristics select the best of multiple sampled hypotheses.