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

1 code implementation • 14 Mar 2024 • Ding-Tao Huang, En-Te Lin, Lipeng Chen, Li-Fu Liu, Long Zeng

Specifically, at the keypoint prediction stage, we designe a robust 3D keypoints selection strategy considering the symmetry class of objects and equivalent keypoints, which facilitate locating 3D keypoints even in highly occluded scenes.

6D Pose Estimation Domain Adaptation