CosyPose Consistent multi-view multi-object 6D pose estimation

estimate camera views and 6D poses of all objs

• explicitly handles symmetries, no depth requirements
• render-and-compare
• RANSAC -> refer to wikipedia
• assumption: obj of interest are known, with some of them not visible, unposed images
  • output: scene model, # of objs, poses, camera poses
  • object detection and pose estimation
  • loss: up to a symmetry