Dong Li

SNOA-Pose: Symmetry-Aware Refinement for Sim-to-Real Category-Level 6D Object Pose Estimation

Category-level 6D object pose estimation recovers the rotation, translation, and scale of unseen object instances within specific categories from RGB-D observations. Voting-based methods such as CPPF++ can be trained without real pose annotations. However, the gap between clean CAD-based training samples and noisy, inc...