从物堆中提取物体的6D位姿并预测下一个最佳视角

摘要Objectdetectionand6Dposeestimationinthecrowd(sceneswithmultipleobjectinstances,severeforegroundocclusionsandbackgrounddistractors),hasbecomeanimportantprobleminmanyrapidlyevolvingtechnologicalareassuchasroboticsandaugmentedreality.Singleshotbased6Dposeestimatorswithmanuallydesignedfeat