Xingyao Yu

PPR-Net:Point-wise Pose Regression Network for Instance Segmentation and 6D Pose Estimation in Bin-picking Scenarios

Accurate object 6D pose estimation is a core task for robot bin-picking applications, especially when objects are randomly stacked with heavy occlusion. To address this problem, this paper proposes a simple but novel Point-wise Pose Regression Network (PPR-Net). For each point in the point cloud, th…