Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: DeepHMap++: Combined Projection Grouping and Correspondence Learning for
  Full DoF Pose Estimation   In recent years, estimating the 6D pose of object instances with
convolutional neural network (CNN) has received considerable attention.
Depending on whether intermediate cues are used, the relevant literature can be
roughly divided into two broad categories: direct methods and two stage
pipelines. For the latter, intermediate cues, such as 3D object coordinates,
semantic keypoints, or virtual control points instead of pose parameters are
regressed by CNN in the first stage. Object pose can then be solved by
correspondence constraints constructed with these intermediate cues. In this
paper, we focus on the postprocessing of a two-stage pipeline and propose to
combine two learning concepts for estimating object pose under challenging
scenes: projection grouping on one side, and correspondence learning on the
other. We firstly employ a local patch based method to predict projection
heatmaps which denote the confidence distribution of projection of 3D bounding
box's corners. A projection grouping module is then proposed to remove
redundant local maxima from each layer of heatmaps. Instead of directly feeding
2D-3D correspondences to the perspective-n-point (PnP) algorithm, multiple
correspondence hypotheses are sampled from local maxima and its corresponding
neighborhood and ranked by a correspondence-evaluation network. Finally,
correspondences with higher confidence are selected to determine object pose.
Extensive experiments on three public datasets demonstrate that the proposed
framework outperforms several state of the art methods.

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The categories of this paper are: hep-lat
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The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
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The categories of this paper are: nucl-th
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The categories of this paper are: math
13
The categories of this paper are: quant-ph
10
The categories of this paper are: q-bio
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The categories of this paper are: patt-sol
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The categories of this paper are: stat
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The categories of this paper are: bayes-an
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The categories of this paper are: atom-ph
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The categories of this paper are: plasm-ph
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The categories of this paper are: chao-dyn
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The categories of this paper are: econ
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The categories of this paper are: alg-geom
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The categories of this paper are: dg-ga