ICP_Learning-based-6D-Pose-Estimation

Solve the 6D pose estimation with ICP-based(Umeyama with scale calculation) & Learning-based(consider symmetry) methods.

1. ICP-based 6D Pose Esimation

Iterative closet points with Umeyama alignment.

ICP results

Improvement Suggestion

Use better Init transformation and Init scale methods.

2. Learning-based 6D Pose Estimation

• Direct approaches: predict rotation and translation directly
• Train a neural network: PointNet
• considering symmetry

Learning-based results