Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for
  Monocular Object Pose Estimation   Locating 3D objects from a single RGB image via Perspective-n-Points (PnP) is
a long-standing problem in computer vision. Driven by end-to-end deep learning,
recent studies suggest interpreting PnP as a differentiable layer, so that
2D-3D point correspondences can be partly learned by backpropagating the
gradient w.r.t. object pose. Yet, learning the entire set of unrestricted 2D-3D
points from scratch fails to converge with existing approaches, since the
deterministic pose is inherently non-differentiable. In this paper, we propose
the EPro-PnP, a probabilistic PnP layer for general end-to-end pose estimation,
which outputs a distribution of pose on the SE(3) manifold, essentially
bringing categorical Softmax to the continuous domain. The 2D-3D coordinates
and corresponding weights are treated as intermediate variables learned by
minimizing the KL divergence between the predicted and target pose
distribution. The underlying principle unifies the existing approaches and
resembles the attention mechanism. EPro-PnP significantly outperforms
competitive baselines, closing the gap between PnP-based method and the
task-specific leaders on the LineMOD 6DoF pose estimation and nuScenes 3D
object detection benchmarks.

23
The categories of this paper are: solv-int
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
5
The categories of this paper are: gr-qc
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
36
The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph
7
The categories of this paper are: hep-th
15
The categories of this paper are: nucl-ex
35
The categories of this paper are: mtrl-th
13
The categories of this paper are: quant-ph
3
The categories of this paper are: physics