Pose estimation is a key challenge in robot manipulation and grasping task. Current object
pose estimation approaches based on 3D models and depth sensor information have
difficulties to handle transparent objects because of the limitation to capture the accurate
depth information. To address these issues, we present a 6DoF pose estimation approach,
called GhostPose, which utilizes a novel 3D bounding box prediction network and multi-view
geometry with cameras on manipulator robot. Our 3D bounding box prediction network is …