Keypoint self-consistency features fed to a logistic regression detect 6D pose estimation failures better than conformal keypoint uncertainty on LINEMOD Occluded.
Megapose: 6d pose estimation of novel objects via render & compare,
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Detecting Pose Estimation Failures via Keypoint Self-Consistency
Keypoint self-consistency features fed to a logistic regression detect 6D pose estimation failures better than conformal keypoint uncertainty on LINEMOD Occluded.