Take object ape for example: The trained checkpoints are stored in train_log/linemod/checkpoints/{cls}/, train_log/linemod/checkpoints/ape/ in this example. You can evaluate different checkpoint by revising tst_mdl to the path of your target model.

This is the source code for PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation, CVPR 2020. (PDF, Video_bilibili, Video_youtube).

This is the source code for PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation (PDF, Video).

Sep 29, 2024 · 研究6d位姿估计，复现经典代表性论文pvn3d，因实验需求，在win10和Ubuntu20.04两个平台上实现，遇到数不清的bug，不少bug网上记录较少或记录不清楚，因此凭借记忆对bug进行记录。 win10：NVIDIA GeForce RTX 4090、Driver Version: 526.47. Ubuntu20.04：NVIDIA GeForce RTX 3090和NVIDIA GeForce RTX 4090（双卡服务器） 新手发博，欢迎指正，期待交到志同道合的朋友。 pytorch版本过高或过低在安装库的时候都比较容 …

Nov 11, 2019 · In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based approach.

PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF PoseEstimation. Main Idea. A novel data-driven method [keypoint-based approach] for robust 6DoF object pose estimation from a single RGBD image.

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regre.

Nov 11, 2019 · In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this...

During training and inference of PVN3D, we ran-domly sample 12288 points (pixels) from the whole scene as input. Only these points are labeled with the semantic label by our instance semantic segmentation module, which is not enough for a good performance of the ICP algorithm.

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD im-age. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based approach.