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PVNet: Pixel-Wise Voting Network for 6DoF Object Pose Estim..:

Peng, Sida ; Zhou, Xiaowei ; Liu, Yuan...
IEEE Transactions on Pattern Analysis and Machine Intelligence.  44 (2022)  6 - p. 3212-3223 , 2022
Link: https://doi.org/10.1109/tpami.2020.3047388