This a Google CoLab version code modified from yashs97's repo. It is a recreation of the methodology for 6D pose estimation by DPOD: 6D Pose Object Detector and Refiner, written by Sergey Zakharov, Ivan Shugurov, Slobodan Ilic [1].
[1] Sergey Zakharov, Ivan Shugurov, and Slobodan Ilic. Dpod: 6d pose object detector and refiner. In Proceedings of the IEEE International Conference on Computer Vision, pages 1941–1950, 2019.
[2] Hinterstoisser et al. "Model based training, detection and pose estimation of texture-less 3d objects in heavily cluttered scenes" ACCV 2012.
[3] Tsung-Yi Lin, Michael Maire, Serge Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dolla ́r, and C Lawrence Zitnick. Microsoft coco: Common objects in context. In European conference on computer vision, pages 740–755. Springer, 2014.