@conference {Michel2017,
	title = {Global hypothesis generation for 6D object pose estimation},
	booktitle = {Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017},
	volume = {2017-Janua},
	year = {2017},
	month = {dec},
	pages = {115{\textendash}124},
	abstract = {This paper addresses the task of estimating the 6D pose of a known 3D object from a single RGB-D image. Most modern approaches solve this task in three steps: i) Compute local features; ii) Generate a pool of pose-hypotheses; iii) Select and refine a pose from the pool. This work focuses on the second step. While all existing approaches generate the hypotheses pool via local reasoning, e.g. RANSAC or Hough-voting, we are the first to show that global reasoning is beneficial at this stage. In particular, we formulate a novel fully-connected Conditional Random Field (CRF) that outputs a very small number of pose-hypotheses. Despite the potential functions of the CRF being non-Gaussian, we give a new and efficient two-step optimization procedure, with some guarantees for optimality. We utilize our global hypotheses generation procedure to produce results that exceed state-of-the-art for the challenging "Occluded Object Dataset".},
	isbn = {9781538604571},
	doi = {10.1109/CVPR.2017.20},
	url = {http://arxiv.org/abs/1612.02287},
	author = {Michel, Frank and Kirillov, Alexander and Brachmann, Eric and Krull, Alexander and Gumhold, Stefan and Savchynskyy, Bogdan and Carsten Rother}
}
@conference {SavchynskyyNIPS2013,
	title = {Global MAP-Optimality by Shrinking the Combinatorial Search Area with Convex Relaxation},
	booktitle = {NIPS},
	year = {2013},
	note = {Accepted},
	author = {Savchynskyy, Bogdan and J{\"o}rg H. Kappes and Swoboda, Paul and Christoph Schn{\"o}rr}
}
@conference {SavchynskyyNIPS2013,
	title = {Global MAP-Optimality by Shrinking the Combinatorial Search Area with Convex Relaxation},
	booktitle = {NIPS},
	year = {2013},
	note = {Accepted},
	author = {Savchynskyy, Bogdan and Kappes, Jorg Hendrik and Swoboda, Paul and Christoph Schn{\"o}rr}
}
