%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R ] /Type /Pages /Count 10 >> endobj 2 0 obj << /Title (Real\055Time Seamless Single Shot 6D Object Pose Prediction) /Producer (PyPDF2) /Author (Bugra Tekin\054 Sudipta N\056 Sinha\054 Pascal Fua) /Subject (2018 IEEE Conference on Computer Vision and Pattern Recognition) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 14 0 R /Resources << /XObject << /x8 15 0 R /x6 18 0 R /x12 21 0 R /x10 24 0 R >> /ExtGState << /s9 27 0 R /s11 30 0 R /a0 << /CA 1 /ca 1 >> /s5 33 0 R /R33 36 0 R /s7 37 0 R >> /Font << /R40 40 0 R /F2 44 0 R /F1 45 0 R /R38 46 0 R /R36 49 0 R /R34 53 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 56 0 R 57 0 R 58 0 R 59 0 R 60 0 R 61 0 R 62 0 R 63 0 R 64 0 R 65 0 R 66 0 R 67 0 R 68 0 R 69 0 R 70 0 R 71 0 R 72 0 R 73 0 R 74 0 R 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R ] >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 81 0 R /Resources << /ExtGState << /R33 36 0 R >> /Font << /R36 49 0 R /F2 82 0 R /R34 53 0 R /F1 83 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R 90 0 R 91 0 R 92 0 R 93 0 R 94 0 R 95 0 R 96 0 R 97 0 R 98 0 R 99 0 R 100 0 R 101 0 R 102 0 R 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R 108 0 R 109 0 R 110 0 R 111 0 R 112 0 R 113 0 R 114 0 R 115 0 R 116 0 R 117 0 R 118 0 R 119 0 R 120 0 R 121 0 R 122 0 R 123 0 R 124 0 R 125 0 R 126 0 R 127 0 R 128 0 R 129 0 R 130 0 R 131 0 R 132 0 R 133 0 R 134 0 R 135 0 R 136 0 R ] >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 137 0 R /Resources << /XObject << /R127 138 0 R /R126 141 0 R /R125 142 0 R /R124 143 0 R /R134 144 0 R /R135 148 0 R /R136 149 0 R /R137 150 0 R /R138 151 0 R /R139 152 0 R /R129 153 0 R /R128 154 0 R /R130 155 0 R /R118 156 0 R /R119 157 0 R /R140 158 0 R /R131 159 0 R /R113 160 0 R /R116 161 0 R /R117 162 0 R /R132 163 0 R /R133 147 0 R /R114 164 0 R >> /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /R157 169 0 R /R161 172 0 R /R155 175 0 R /R141 179 0 R /R153 183 0 R /R143 187 0 R /R151 192 0 R /R149 195 0 R /R147 199 0 R /R159 203 0 R /F2 206 0 R /F1 207 0 R /R120 208 0 R /R36 49 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] /ColorSpace << /R112 145 0 R /R123 139 0 R >> >> /MediaBox [ 0 0 612 792 ] /Annots [ 212 0 R 213 0 R 214 0 R 215 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 216 0 R /Resources << /XObject << /R181 217 0 R /R180 218 0 R /R183 219 0 R /R182 220 0 R /R185 221 0 R /R184 222 0 R /R187 223 0 R /R186 224 0 R /R178 225 0 R /R179 226 0 R >> /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /R147 199 0 R /R141 179 0 R /R143 187 0 R /R174 227 0 R /R176 231 0 R /R149 195 0 R /F2 235 0 R /F1 236 0 R /R36 49 0 R /R34 53 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] /ColorSpace << /R112 145 0 R >> >> /MediaBox [ 0 0 612 792 ] /Annots [ 237 0 R 238 0 R 239 0 R 240 0 R 241 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 242 0 R /Resources << /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /R147 199 0 R /R141 179 0 R /R219 243 0 R /R149 195 0 R /R40 40 0 R /F2 246 0 R /F1 247 0 R /R36 49 0 R /R34 53 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 248 0 R 249 0 R 250 0 R 251 0 R 252 0 R 253 0 R 254 0 R 255 0 R 256 0 R 257 0 R 258 0 R 259 0 R 260 0 R 261 0 R 262 0 R 263 0 R 264 0 R 265 0 R 266 0 R 267 0 R 268 0 R 269 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 270 0 R /Resources << /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /R147 199 0 R /R155 175 0 R /R141 179 0 R /R153 183 0 R /R143 187 0 R /R219 243 0 R /R149 195 0 R /R159 203 0 R /F2 271 0 R /F1 272 0 R /R36 49 0 R /R34 53 0 R /R40 40 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 273 0 R 274 0 R 275 0 R 276 0 R 277 0 R 278 0 R 279 0 R 280 0 R 281 0 R 282 0 R 283 0 R 284 0 R 285 0 R 286 0 R 287 0 R 288 0 R 289 0 R 290 0 R 291 0 R 292 0 R 293 0 R 294 0 R 295 0 R 296 0 R 297 0 R 298 0 R 299 0 R 300 0 R 301 0 R 302 0 R 303 0 R 304 0 R 305 0 R 306 0 R 307 0 R 308 0 R 309 0 R 310 0 R 311 0 R ] >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 312 0 R /Resources << /XObject << /R309 313 0 R >> /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /R141 179 0 R /R40 40 0 R /F2 314 0 R /F1 315 0 R /R36 49 0 R /R34 53 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 316 0 R 317 0 R 318 0 R 319 0 R 320 0 R 321 0 R 322 0 R 323 0 R 324 0 R 325 0 R 326 0 R 327 0 R 328 0 R 329 0 R 330 0 R 331 0 R 332 0 R 333 0 R 334 0 R 335 0 R 336 0 R 337 0 R 338 0 R 339 0 R 340 0 R 341 0 R 342 0 R 343 0 R 344 0 R 345 0 R 346 0 R 347 0 R 348 0 R 349 0 R 350 0 R 351 0 R 352 0 R 353 0 R 354 0 R 355 0 R ] >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Contents 356 0 R /Resources << /XObject << /R349 357 0 R /R348 358 0 R /R347 359 0 R /R346 360 0 R /R345 361 0 R /R344 362 0 R /R343 363 0 R /R342 364 0 R /R341 365 0 R /R340 366 0 R /R325 367 0 R /R329 369 0 R /R328 370 0 R /R338 371 0 R /R339 372 0 R /R336 373 0 R /R337 374 0 R /R327 375 0 R /R326 376 0 R /R332 377 0 R /R334 378 0 R /R323 379 0 R /R322 380 0 R /R335 381 0 R /R333 382 0 R /R350 383 0 R /R330 384 0 R /R351 385 0 R /R331 386 0 R /R324 368 0 R >> /ExtGState << /R33 36 0 R >> /Font << /R145 165 0 R /F2 387 0 R /F1 388 0 R /R143 187 0 R /R36 49 0 R /R352 389 0 R /R34 53 0 R /R356 393 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] /ColorSpace << /R112 145 0 R /R355 397 0 R >> >> /Group 399 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 400 0 R 401 0 R 402 0 R 403 0 R 404 0 R 405 0 R ] /Type /Page >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 406 0 R /Resources << /ExtGState << /R33 36 0 R >> /Font << /R36 49 0 R /F2 407 0 R /R34 53 0 R /F1 408 0 R /R40 40 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ ] >> endobj 12 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 409 0 R /Resources << /ExtGState << /R33 36 0 R >> /Font << /R36 49 0 R /F2 410 0 R /F1 411 0 R /R40 40 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ ] >> endobj 13 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 14 0 obj << /Length 20918 >> stream q q q 0.1 0 0 0.1 0 0 cm /R33 gs 0 g q 10 0 0 10 0 0 cm BT /R34 14.3462 Tf 1 0 0 1 117.705 675.067 Tm [ (Real\055T) 18.0023 (ime) -250.002 (Seamless) -249.99 (Single) -250.012 (Shot) -249.995 (6D) -249.998 (Object) -249.998 (P) 20.0061 (ose) -250.008 (Pr) 18.0048 (ediction) ] TJ /R36 11.9552 Tf 9.38477 -37.8582 Td [ (Bugra) -250.01 (T) 70.0154 (ekin) ] TJ 15.6793 -13.9469 Td (EPFL) Tj /R38 7.9701 Tf -31.4781 -13.948 Td (bugra\056tekin\100epfl\056ch) Tj /R36 11.9552 Tf 148.029 27.8949 Td [ (Sudipta) -249.995 (N\056) -250.01 (Sinha) ] TJ -6.29375 -13.9469 Td [ (Microsoft) -250.01 (Research) ] TJ /R38 7.9701 Tf -17.5813 -13.948 Td (sudipta\056sinha\100microsoft\056com) Tj /R36 11.9552 Tf 179.805 27.8949 Td [ (P) 15.0137 (ascal) -249.989 (Fua) ] TJ 11.6922 -13.9469 Td (EPFL) Tj /R38 7.9701 Tf -29.0871 -13.948 Td (pascal\056fua\100epfl\056ch) Tj /R34 11.9552 Tf -251.86 -41.0461 Td (Abstract) Tj /R40 9.9626 Tf -83.9281 -24.209 Td [ (W) 91.9865 (e) -386.999 (pr) 44.9839 (opose) -387.016 (a) -386.989 (single\055shot) -386.987 (appr) 44.9937 (oac) 14.984 (h) -388.009 (for) -387.016 (simultaneously) ] TJ -11.9547 -11.9551 Td [ (detecting) -272.01 (an) -271.004 (object) -272.017 (in) -271.982 (an) -271.004 (RGB) -271.983 (ima) 10.013 (g) 10.0032 (e) -271.999 (and) -270.999 (pr) 36.9865 (edicting) -272.006 (its) -272.013 (6D) ] TJ 11.9551 TL T* [ (pose) -209.993 (without) -209.994 (r) 37.0196 (equiring) -210.008 (multiple) -210.007 (sta) 10.0167 (g) 10.0032 (es) -210.003 (or) -209.992 (having) -209.982 (to) -209.992 (e) 19.9918 (xamine) ] TJ T* [ (multiple) -218.005 (hypotheses\056) -299.999 (Unlik) 10.0167 (e) -218.008 (a) -219.017 (r) 37.0196 (ecently) -218 (pr) 44.9851 (oposed) -219 (single\055shot) ] TJ T* [ (tec) 15.0159 (hnique) -361.995 (for) -361.019 (this) -361.992 (task) -362.005 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 149.061 496.239 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 159.023 496.239 Tm [ (\135) -362.012 (that) -361.013 (only) -362.006 (pr) 36.9865 (edicts) -362 (an) -362.008 (appr) 44.9949 (ox\055) ] TJ -108.911 -11.9563 Td [ (imate) -338.984 (6D) -340.014 (pose) -338.99 (that) -339.997 (must) -338.981 (then) -340.009 (be) -339.001 (r) 37.0196 <65026e65642c> -362.008 (our) 10.0155 (s) -338.997 (is) -340.009 (accur) 14.9852 (ate) ] TJ 11.9547 TL T* [ (enough) -302.007 (not) -302.011 (to) -302.016 (r) 37.0196 (equir) 36.9926 (e) -301.994 (additional) -302.008 (post\055pr) 45.0047 (ocessing) 15.0024 (\056) -465.998 (As) -302.018 (a) -301.984 (r) 37.0183 (e\055) ] TJ T* [ (sult\054) -337.014 (it) -318.991 (is) -318.992 (muc) 14.9816 (h) -319.981 (faster) -319.018 (\226) -319 (50) -320.015 (fps) -318.987 (on) -318.996 (a) -319.981 (T) 54.9859 (itan) -318.981 (X) -319 (\050P) 79.9866 (ascal\051) -320.01 (GPU) ] TJ T* [ (\226) -259.991 (and) -259.98 (mor) 36.9883 (e) -260 (suitable) -259.997 (for) -258.997 (r) 37.0196 (eal\055time) -260.018 (pr) 44.9839 (ocessing) 15.0024 (\056) -340.019 (The) -259.981 (k) 9.99343 (e) 29.9901 (y) -260 (com\055) ] TJ T* [ (ponent) -341.999 (of) -342.009 (our) -342.005 (method) -340.981 (is) -342.008 (a) -342.016 (ne) 15.0183 (w) -342.008 (CNN) -341.982 (ar) 36.9865 (c) 15.0122 (hitectur) 37.0036 (e) -341.987 (inspir) 37.011 (ed) ] TJ 11.9559 TL T* [ (by) -267.014 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 66.0523 424.507 Tm (27) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 76.0148 424.507 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 81.1656 424.507 Tm (28) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 91.1281 424.507 Tm [ (\135) -267.008 (that) -266.99 (dir) 36.9926 (ectly) -267.013 (pr) 36.9852 (edicts) -266.997 (the) -267.007 (2D) -267.007 (ima) 10.013 (g) 10.0032 (e) -267.019 (locations) -267.009 (of) ] TJ -41.016 -11.9551 Td [ (the) -251.989 (pr) 44.9839 (ojected) -251.986 (vertices) -251.008 (of) -251.985 (the) -251.99 (object\047) 40.0056 (s) -251.991 (3D) -251.01 (bounding) -251.995 (box\056) -316.018 (The) ] TJ 11.9551 TL T* [ (object\047) 40.0056 (s) -249.991 (6D) -249.99 (pose) -249.985 (is) -249.984 (then) -249.985 (estimated) -250.005 (using) -250.007 (a) -249.993 (PnP) -249.985 (algorithm\056) ] TJ 11.9547 -12.2527 Td [ (F) 105.006 (or) -437.994 (single) -437 (object) -437.989 (and) -437.991 (multiple) -436.988 (object) -437.991 (pose) -437.993 (estimation) ] TJ -11.9547 -11.9551 Td [ (on) -590.009 (the) ] TJ /R36 9.9626 Tf 34.1359 0 Td (L) Tj /R36 7.9701 Tf 6.58477 0 Td [ (I) -61.9825 (N) -61.9848 (E) ] TJ /R36 9.9626 Tf 14.7543 0 Td (M) Tj /R36 7.9701 Tf 9.35469 0 Td [ (O) -61.9855 (D) ] TJ /R40 9.9626 Tf 18.1191 0 Td (and) Tj /R36 9.9626 Tf 21.3371 0 Td (O) Tj /R36 7.9701 Tf 7.69102 0 Td [ (C) -61.9947 (C) -61.0145 (L) -62.0238 (U) -61.9855 (S) -61.0038 (I) -61.9825 (O) -61.9855 (N) ] TJ /R40 9.9626 Tf 49.4109 0 Td [ (datasets\054) -674.985 (our) -588.983 (ap\055) ] TJ -161.388 -11.9559 Td [ (pr) 44.9839 (oac) 14.9834 (h) -340.017 (substantially) -339.992 (outperforms) -340.009 (other) -340.002 (r) 37.0183 (ecent) -339.982 (CNN\055based) ] TJ T* [ (appr) 44.9937 (oac) 14.9834 (hes) -350.013 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 103.363 352.478 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 113.325 352.478 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 119.293 352.478 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R40 9.9626 Tf 1 0 0 1 129.255 352.478 Tm [ (\135) -350.014 (when) -350.002 (the) 30.0023 (y) -349.005 (ar) 36.9852 (e) -349.986 (all) -348.981 (used) -350.008 (without) -350.01 (post\055) ] TJ -79.143 -11.9551 Td [ (pr) 44.9839 (ocessing) 15.0036 (\056) -341 (During) -260.985 (post\055pr) 45.0035 (ocessing) 9.98485 (\054) -263.012 (a) -259.991 (pose) -259.984 (r) 37.0183 <65026e656d656e74> -261.003 (step) ] TJ 11.9551 TL T* [ (can) -231.995 (be) -232 (used) -231.989 (to) -231.988 (boost) -232.992 (t) 0.98758 (he) -233.019 (accur) 14.9852 (acy) -232.004 (of) -231.988 (these) -231.991 (two) -232.015 (methods\054) -236.01 (b) 20.0016 (ut) ] TJ T* [ (at) -249.985 (10) -249.988 (fps) -250.018 (or) -249.986 (less\054) -250.02 (the) 30.0023 (y) -250.002 (ar) 36.9852 (e) -250.002 (muc) 14.9816 (h) -249.993 (slower) -250.004 (than) -250.015 (our) -249.98 (method\056) ] TJ /R34 11.9552 Tf 36.7602 TL T* [ (1\056) -249.99 (Intr) 18.0146 (oduction) ] TJ /R36 9.9626 Tf 11.9547 -19.227 Td [ (Real\055time) -446.993 (object) -445.988 (detection) -447 (and) -447.017 (6D) -445.997 (pose) -447.011 (estimation) -447.014 (is) ] TJ -11.9547 -11.9559 Td [ (crucial) -340.999 (for) -341.003 (augmented) -341.014 (reality) 64.9843 (\054) -362.996 (virtual) -341.017 (reality) 64.9843 (\054) -364.015 (and) -340.997 (robotics\056) ] TJ 11.9551 TL T* [ (Currently) 65.0014 (\054) -225.019 (methods) -218.007 (relying) -219 (on) -217.993 (depth) -217.984 (data) -219.02 (acquired) -217.998 (by) -219.012 (RGB\055) ] TJ T* [ (D) -307.005 (cameras) -307.01 (are) -307.02 (quite) -308.007 (rob) 20.004 (ust) -306.989 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 165.36 224.76 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 170.341 224.76 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 175.89 224.76 Tm (3) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 180.871 224.76 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 186.421 224.76 Tm (4) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 191.402 224.76 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 196.951 224.76 Tm (11) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 206.914 224.76 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 212.473 224.76 Tm (13) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 222.435 224.76 Tm [ (\135\056) -481.018 (Ho) 24.9836 (we) 25.013 (v) 14.9828 (er) 39.986 (\054) -321.983 (ac\055) ] TJ -172.323 -11.9551 Td [ (ti) 24.9903 (v) 14.9828 (e) -313.011 (depth) -312.989 (sensors) -312.006 (are) -313.019 (po) 24.986 (wer) -313.012 (hungry) 64.9916 (\054) -327.982 (which) -312.992 (mak) 10.0106 (es) -313.004 (6D) -313 (ob\055) ] TJ 11.9551 TL T* [ (ject) -392.988 (detection) -393.009 (methods) -394.016 (for) -392.994 (passi) 24.9958 (v) 14.9828 (e) -392.998 (RGB) -393.003 (images) -393.01 (more) -394.003 (at\055) ] TJ T* [ (tracti) 24.986 (v) 14.9828 (e) -291.015 (for) -291.011 (mobile) -291.018 (and) -291.984 (wearable) -291.016 (cameras\056) -432.987 (There) -291.993 (are) -290.983 (man) 14.9901 (y) ] TJ 11.9563 TL T* [ (f) 9.99527 (ast) -287.002 (k) 10.0032 (e) 15.0128 (ypoint) -287.996 (and) -287.005 (edge\055based) -287.985 (methods) -287.015 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 209.613 176.939 Tm (21) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 219.576 176.939 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 224.926 176.939 Tm (31) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 234.888 176.939 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 240.248 176.939 Tm (36) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 250.211 176.939 Tm [ (\135) -287.013 (that) -288.016 (are) ] TJ -200.098 -11.9551 Td [ (ef) 25.0081 (fecti) 25.0179 (v) 14.9828 (e) -240.984 (for) -242 (te) 14.9803 (xtured) -241.004 (objects\056) -308.003 (Ho) 24.9836 (we) 25.0142 (v) 14.9828 (er) 39.986 (\054) -243.016 (the) 14.9852 (y) -241.014 (ha) 19.9967 (v) 14.9828 (e) -242.004 (dif) 24.986 <0263756c7479> ] TJ 11.9547 TL T* [ (handling) -194.011 (weakly) -193.996 (te) 14.9803 (xtured) -195.012 (or) -194.006 (unte) 14.9901 (xtured) -193.992 (objects) -193.985 (and) -194.982 (process\055) ] TJ T* [ (ing) -276.015 (lo) 24.9885 (w\055resolution) -275.013 (video) -276.014 (streams\054) -282.009 (which) -274.998 (are) -276.005 (quite) -276.013 (common) ] TJ T* [ (when) -249.989 (dealing) -250.016 (with) -250.015 (cameras) -250 (on) -249.988 (wearable) -250.002 (de) 25.0154 (vices\056) ] TJ 11.9547 -12.2539 Td [ (Deep) -249.998 (learning) -250.02 (techniques) -250.01 (ha) 19.9979 (v) 14.9828 (e) -250.002 (recently) -249.99 (been) -249.995 (used) -249.985 (to) -249.985 (ad\055) ] TJ -11.9547 -11.9551 Td [ (dress) -360.009 (these) -360.009 (limitations) -359.99 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 147.766 104.91 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 157.728 104.91 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 163.815 104.91 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 173.778 104.91 Tm [ (\135\056) -640.012 (BB8) -359.986 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 211.138 104.91 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 221.1 104.91 Tm [ (\135) -359.982 (is) -360.006 (a) -361.003 (6D) -360.011 (object) ] TJ -170.988 -11.9551 Td [ (detection) -355.016 (pipeline) -355.991 (made) -354.991 (of) -356.018 (one) -354.993 (CNN) -356 (to) -354.987 (coarsely) -356.012 (se) 15.0196 (gment) ] TJ 11.9551 TL T* [ (the) -394.005 (object) -393.997 (and) -394.007 (another) -394.003 (to) -394 (predict) -394 (the) -394.005 (2D) -394.005 (locations) -394.018 (of) -394.01 (the) ] TJ 258.75 487.268 Td [ (projections) -283.014 (of) -283.009 (the) -283.984 (object\047) 54.9859 (s) -283.007 (3D) -283.002 (bounding) -283.007 (box) -282.997 (gi) 24.986 (v) 14.9828 (en) -283.012 (the) -283.982 (se) 15.0171 (g\055) ] TJ 11.9559 TL T* [ (mentation\054) -253.014 (which) -251.982 (are) -252.009 (then) -251.982 (used) -253.007 (to) -251.987 (compute) -252.012 (the) -251.987 (6D) -251.987 (pose) -253.007 (us\055) ] TJ 11.9551 TL T* [ (ing) -270.016 (a) -270 (PnP) -269.019 (algorithm) -269.992 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 394.889 544.357 Tm (16) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 404.852 544.357 Tm [ (\135\056) -370.017 (The) -269.009 (method) -270.004 (is) -269.979 (ef) 25.0056 (fecti) 25.0154 (v) 14.9828 (e) -270 (b) 20.0016 (ut) -269.984 (slo) 24.9958 (w) ] TJ -95.9898 -11.9551 Td [ (due) -378.01 (to) -376.984 (its) -377.996 (multi\055stage) -376.991 (nature\056) -693.012 (SSD\0556D) -378.02 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 475.427 532.402 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 485.389 532.402 Tm [ (\135) -377 (is) -378 (a) -377.981 (dif) 24.986 (ferent) ] TJ -176.527 -11.9547 Td [ (pipeline) -314 (that) -314.992 (relies) -314.019 (on) -314.016 (the) -314.996 (SSD) -313.997 (architecture) -313.982 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 490.152 520.447 Tm (19) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 500.114 520.447 Tm [ (\135) -313.992 (to) -314.996 (predict) ] TJ -191.252 -11.9551 Td [ (2D) -191.02 (bounding) -192.005 (box) 14.9926 (es) -190.985 (and) -190.983 (a) -192.012 (v) 14.9828 (ery) -190.993 (rough) -191.992 (estimate) -191.002 (of) -190.988 (the) -191.997 (object\047) 54.9859 (s) ] TJ 11.9563 TL T* [ (orientation) -253.019 (in) -253.985 (a) -252.982 (single) -254.009 (step\056) -320.01 (This) -254.012 (is) -253.002 (follo) 24.9958 (wed) -253.992 (by) -253.007 (an) -253.997 (approxi\055) ] TJ 11.9547 TL T* [ (mation) -282 (to) -282.019 (predict) -283 (the) -281.985 (object\047) 54.9859 (s) -281.987 (depth) -282.012 (from) -283.002 (the) -281.982 (size) -281.987 (of) -281.992 (its) -282.992 (2D) ] TJ T* [ (bounding) -275.991 (box) -276.998 (in) -275.981 (the) -277.005 (image\054) -282.992 (to) -275.983 (lift) -276.993 (the) -275.983 (2D) -277.003 (detections) -276.003 (to) -277.003 (6D\056) ] TJ T* [ (Both) -373.987 (BB8) -375.004 (and) -374.011 (SSD\0556D) -374.018 (require) -374.996 (a) -373.982 (further) -374.011 (pose) -374.986 <7265026e656d656e74> ] TJ T* [ (step) -334.008 (for) -333.986 (impro) 15.0048 (v) 14.9828 (ed) -333.003 (accurac) 14.9975 (y) 65.0137 (\054) -354.995 (which) -334.008 (increases) -334.018 (their) -334.013 (running) ] TJ T* [ (times) -250.007 (linearly) -250.017 (with) -250.015 (the) -249.99 (number) -250.017 (of) -249.997 (objects) -250.017 (being) -250.017 (detected\056) ] TJ 11.9547 -22.9461 Td [ (In) -390.991 (this) -389.989 (paper) 39.9909 (\054) -426.005 (we) -390.996 (propose) -389.994 (a) -390.998 (single\055shot) -390.989 (deep) -390.013 (CNN) -391.013 (ar) 19.9869 (\055) ] TJ -11.9547 -11.9551 Td [ (chitecture) -265.985 (that) -266.019 (tak) 10.0057 (es) -265.992 (the) -265.987 (image) -266.019 (as) -265.995 (input) -266.985 (and) -265.99 (directly) -266.014 (detects) ] TJ T* [ (the) -340.995 (2D) -340.014 (projections) -341.004 (of) -341 (t) 0.98758 (h) -1.01454 (e) -339.987 (3D) -340.992 (bounding) -340.017 (box) -340.987 (v) 14.9828 (ertices\056) -582.016 (It) -340.997 (is) ] TJ 11.9559 TL T* [ (end\055to\055end) -229.003 (trainable) -229.006 (and) -227.996 (accurate) -228.996 (e) 25.0105 (v) 14.9828 (en) -228.981 (without) -228.981 (an) 15.0171 (y) ] TJ /R40 9.9626 Tf 204.64 0 Td [ (a) -229.016 (poste\055) ] TJ -204.64 -11.9551 Td (riori) Tj /R36 9.9626 Tf 20.7148 0 Td [ <7265026e656d656e742e> -307.998 (And) -245.986 (since\054) -245.988 (we) -245.018 (do) -245.988 (not) -244.998 (need) -245.018 (this) -244.993 <7265026e656d656e74> ] TJ -20.7148 -11.9547 Td [ (step\054) -403.994 (we) -373 (also) -372.982 (do) -372.987 (not) -373.019 (need) -372.997 (a) -373.001 (precise) -374.016 (and) -372.992 (detailed) -373.016 (te) 14.9828 (xtured) ] TJ 11.9551 TL T* [ (3D) -267.007 (object) -267 (model) -266.99 (that) -268.019 (is) -267.002 (needed) -267.014 (by) -267.004 (other) -267.004 (methods) -535.014 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 514.232 342.084 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 524.194 342.084 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 529.345 342.084 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 539.307 342.084 Tm (\135\056) Tj -230.445 -11.9551 Td [ (W) 79.9866 (e) -279.997 (only) -278.99 (need) -279.99 (the) -279.005 (3D) -279.985 (bounding) -279.988 (box) -278.998 (of) -279.992 (the) -279.002 (object) -280.017 (shape) -279.983 (for) ] TJ 11.9551 TL T* [ (training\056) -561.012 (This) -334 (can) -333.986 (be) -333.983 (deri) 24.9811 (v) 14.9828 (ed) -333.983 (from) -332.993 (other) -334.013 (easier) -333.988 (to) -334.013 (acquire) ] TJ 11.9559 TL T* [ (and) -249.993 (approximate) -250.007 (3D) -249.99 (shape) -249.988 (representations\056) ] TJ 11.9547 -22.9449 Td [ (W) 79.9866 (e) -922.988 (demonstrate) -922.991 (state\055of\055the\055art) -923.013 (accurac) 14.9975 (y) -923.998 (on) -923.013 (the) ] TJ -11.7059 -11.9551 Td (L) Tj /R36 7.9701 Tf 6.58516 0 Td [ (I) -61.9809 (N) -61.984 (E) ] TJ /R36 9.9626 Tf 14.7547 0 Td (M) Tj /R36 7.9701 Tf 9.3543 0 Td [ (O) -61.984 (D) ] TJ /R36 9.9626 Tf 18.25 0 Td [ (dataset) -602.985 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 395.046 271.318 Tm (8) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 400.027 271.318 Tm [ (\135\054) -690.983 (which) -602.983 (has) -602.012 (become) -602.988 (a) ] TJ /R40 9.9626 Tf 109.748 0 Td [ (de) -602.997 (facto) ] TJ /R36 9.9626 Tf -200.914 -11.9559 Td [ (standard) -483.98 (benchmark) -485 (for) -484 (6D) -483.988 (pose) -485.007 (estimation\056) -1013 (Ho) 24.986 (we) 25.0154 (v) 14.9828 (er) 39.9835 (\054) ] TJ 11.9551 TL T* [ (we) -444.987 (are) -444.997 (much) -445.987 (f) 9.99588 (aster) -444.982 (than) -445.009 (the) -445.014 (competing) -444.985 (techniques) -444.994 (by) -445.994 (a) ] TJ T* [ (f) 9.99588 (actor) -265.015 (of) -265.992 (more) -265.005 (than) -265.002 <02> 24.9909 (v) 14.9828 (e\054) -269.016 (when) -265.985 (dealing) -264.995 (with) -264.99 (a) -265.02 (single) -266.01 (object\056) ] TJ T* [ (Furthermore\054) -799.011 (we) -688.986 (pay) -689.017 (virtually) -688.988 (no) -689.993 (time\055penalty) -688.983 (when) ] TJ T* [ (handling) -537.013 (se) 25.0179 (v) 14.9828 (eral) -535.994 (objects) -536.989 (and) -537.004 (our) -535.984 (running) -537.018 (time) -536.984 (remains) ] TJ T* [ (constant) -335.995 (whereas) -335.986 (that) -336.988 (of) -335.981 (other) -336.013 (methods) -335.988 (gro) 24.9811 (w) -336.998 (proportional) ] TJ 11.9559 TL T* [ (to) -441.992 (the) -441.017 (number) -441.985 (of) -442.002 (objects\054) -488.992 (which) -441.99 (we) -440.985 (demonstrate) -442.014 (on) -441.995 (the) ] TJ 0.24883 -11.9551 Td (O) Tj /R36 7.9701 Tf 7.69102 0 Td [ (C) -61.9932 (C) -61.9932 (L) -60.9946 (U) -61.984 (S) -61.0038 (I) -61.9809 (O) -61.984 (N) ] TJ /R36 9.9626 Tf 46.027 0 Td [ (dataset) -249.985 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 396.303 175.676 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 401.284 175.676 Tm (\135\056) Tj -80.4676 -22.9449 Td [ (Therefore\054) -276 (our) -269.987 (contrib) 20.0187 (ution) -270.984 (is) -270.999 (an) -269.994 (architecture) -271.009 (that) -270.999 (yields) ] TJ -11.9547 -11.9559 Td [ (a) -260 (f) 9.99588 (ast) -259.986 (and) -259.991 (accurate) -260.008 (one\055shot) -260.011 (6D) -259.986 (pose) -261.005 (prediction) -260.006 (without) -259.996 (re\055) ] TJ 11.9551 TL T* [ (quiring) -236.007 (an) 15.0171 (y) -237.014 (post\055processing\056) -304.998 (It) -237.014 (e) 15.0122 (xtends) -236.015 (single) -236.995 (shot) -236.015 (CNN) -237 (ar) 19.9869 (\055) ] TJ T* [ (chitectures) -296.992 (for) -297.012 (2D) -297.002 (detection) -296.985 (in) -297 (a) -297.014 (seamless) -298.004 (and) -297.004 (natural) -296.995 (w) 10.0032 (ay) ] TJ T* [ (to) -330.011 (the) -330.016 (6D) -328.997 (detection) -329.999 (task\056) -550.009 (Our) -329 (implementation) -329.994 (is) -330.009 (based) -330.014 (on) ] TJ T* [ (Y) 29.9974 (OLO) -344.991 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 342.984 92.9555 Tm (28) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 352.946 92.9555 Tm [ (\135) -343.984 (b) 20.0016 (ut) -344.989 (the) -344.994 (approach) -344.016 (is) -344.987 (amenable) -344.011 (to) -344.991 (other) -344.991 (single\055) ] TJ -44.0844 -11.9551 Td [ (shot) -250.015 (detectors) -249.983 (such) -249.985 (as) -249.995 (SSD) -250.007 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 422.037 81.0004 Tm (19) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R36 9.9626 Tf 1 0 0 1 432 81.0004 Tm [ (\135) -250.002 (and) -249.993 (its) -250.017 (v) 24.9811 (ariants\056) ] TJ ET Q Q Q q q 1 1 1 rg /a0 gs 48.406 786.422 515.188 -52.699 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.4 TL ET 1 1 1 rg n 270 32 72 14 re f* 0.5 0.5 0.5 rg BT /F2 9 Tf 10.8 TL ET BT 1 0 0 1 299.25 35 Tm (292) Tj T* ET Q endstream endobj 15 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 16 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 16 0 obj << /Filter /FlateDecode /Resources 17 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
17 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
18 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x15 19 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 67 752 84 775 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ04Up
0
endstream
endobj
19 0 obj
<<
/Filter /FlateDecode
/Resources 20 0 R
/Length 228
/Type /XObject
/BBox [ 67 752 84 775 ]
/Subtype /Form
>>
stream
xeQKn!s ?FPav6R٪TS.
b];15YyR
{7QL.\:Rv/x9l+L7h%1!}i/AI(kz"U&,YO![R hg{3}4/GyYF:!w}Gn+'xJcO9i뽼_-:`
endstream
endobj
20 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
21 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x24 22 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 132 751 480 772 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ02Qp
0
endstream
endobj
22 0 obj
<<
/Filter /FlateDecode
/Resources 23 0 R
/Length 53223
/Type /XObject
/BBox [ 132 751 480 772 ]
/Subtype /Form
>>
stream
xtI:6%Q㨈?7rA= u%6 ?Y(WbWo{B>9
x`Znϳ|8{3?0x*z ǃ|,@:w>`c|*ϻⳅKO3`g
:_|}}><.6`Z{{3]#<_o"~:ͺgk7/Ұ@|K yp ]03ʷCmş8˽Y?>(3!Bwqs.Z8,~~=rMT̩y+/*w: uBZ_`ߵp`%M?ɝ1ɳw=vDۉy&xb4Q>d@ sg~lA