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6D Pose Estimation Based on 3D Edge Binocular Reprojection ..:

Li, Dong ; Mu, Quan ; Yuan, Yilin...
IEEE Robotics and Automation Letters.  8 (2023)  12 - p. 8319-8326 , 2023
Link: https://doi.org/10.1109/lra.2023.3327933