LocPoseNet

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Office implementation of "LocPoseNet: Robust Location Prior for Unseen Object Pose Estimation", 3DV 2024

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# LocPoseNet: Robust Location Prior for Unseen Object Pose Estimation

This repository is the official implementation of the [*LocPoseNet: Robust Location Prior for Unseen Object Pose Estimation*](https://arxiv.org/abs/2211.16290), 3DV 2024.

# Setup Dependencies
```
conda create -n LocPoseNet
conda activate LocPoseNet
bash ./install.sh
```

# Data Preparation
Please refer to the instructions provided in [Gen6D](https://github.com/liuyuan-pal/Gen6D) for downloading and preprocessing the data. You may need to adjust the values for `DATA_PATH` in `dataset/database.py`, `dataset/train_dataset.py`, and `dataset/train_meta_info.py`, to match the actual directory path of your data.

# Test pretrained model
We provide a pretrained detector. Run the following evaluation to get the results on LINEMOD and GenMOP:
```
python ./eval_detector.py
```
The results should be comparable with those reported in our paper.

# Train from scratch
Run the following script to train the model:
```
python ./train_model.py
```

# Citation
If you find the project useful, please consider citing:
```bibtex
@article{zhao2024locposenet,
  title={Locposenet: Robust location prior for unseen object pose estimation},
  author={Zhao, Chen and Hu, Yinlin and Salzmann, Mathieu},
  journal={International Conference on 3D Vision},
  year={2024}
}
```

LocPoseNet

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