Goal

Estimate accurate 6D poses of multiple known objects in a 3D scene captured by multiple cameras with unknown positions

Challenges

• object pose hypotheses made in individual images cannot easily be expressed in a common reference frame when the relative transformations between the cameras are unknown(相机相对位置未知)
• the single-view 6D object pose hypotheses have gross errors in the form of false positive and missed detections（由于视角遮蔽，会存在误报和错漏的情况）
• the candidate 6D object poses estimated from input images are noisy as they suffer from depth ambiguities inherent to single view methods.（深度信息通常没那么精准）

Approach