
Proposing SD-Net for accurate 6D pose estimation in bin-picking scenarios through symmetric-aware keypoint prediction and domain adaptation.


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SD-Net: Symmetric-Aware Keypoint Prediction and Domain Adaptation for 6D Pose Estimation In Bin-picking Scenarios


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The proposed TransPose framework exploits Transformer Encoder with a geometry-aware module to develop better learning of point cloud feature representations for accurate 6D object pose estimation.


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TransPose: 6D Object Pose Estimation with Geometry-Aware Transformer
