Recent Trends in 6DoF Object Pose Estimation Using 3D Point Clouds

Abstract

In this paper, we introduce methods for estimating the 6DoF pose of objects using point clouds. This technique has two problem settings: instance-level pose estimation, which estimates the pose of a specific 3D model, and category-level pose estimation, which estimates the pose of an unseen object. We introduce some representative examples of both problem settings. In addition, we introduce our recent work on category-level pose estimation by self-supervised learning.