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SOCS

Pytorch implementation of SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variations (link)

visualization of coordinate in NOCS: teaser1 visualization of coordinate in SOCS: teaser2 pose optimization by SOCS teaser3

Training

python -m engine.NFtrain_v5 --per_obj bottle --dataset Real --dataset_dir /nocs_data \
--keypoint_path /nocs_data/keypoint.pkl \
--lr 0.003 \
--aug_bg 0 \
--train_steps 1500 \
--use_deform 1 \
--model_save output/whole_lr0.003_1500_deform