Yangzheng Wu*

Pseudo-keypoint RKHS Learning for Self-supervised 6DoF Pose Estimation

"We address the simulation-to-real domain gap in six degree-of-freedom pose estimation (6DoF PE), and propose a novel self-supervised keypoint voting-based 6DoF PE framework, effectively narrowing this gap using a learnable kernel in RKHS. We formulate this domain gap as a distance in high-dimension…