Li-Fu Liu

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

Despite the success of 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects in real-world scenarios. The primary bottlenecks include 1) the ambiguity in keypoints caused by object symmetries; and 2) the domain gap be…