VAPO: Visibility-Aware Keypoint Localization for Efficient 6DoF Object Pose Estimation

Ruyi Lian, Yuewei Lin, Longin Jan Latecki +1

Localizing predefined 3D keypoints in a 2D image is an effective way to establish 3D-2D correspondences for instance-level 6DoF object pose estimation. However, unreliable localiza…