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DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation:

Shugurov, Ivan ; Zakharov, Sergey ; Ilic, Slobodan
IEEE Transactions on Pattern Analysis and Machine Intelligence.  44 (2022)  11 - p. 7417-7435 , 2022
Link: https://doi.org/10.1109/tpami.2021.3118833