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Hodaň, T, Michel, F, Brachmann, E, Kehl, W, Buch, A Glent, Kraft, D, Drost, B, Vidal, J, Ihrke, S, Zabulis, X, Sahin, C, Manhardt, F, Tombari, F, Kim, T Kyun, Matas, J and Rother, C (2018). BOP: Benchmark for 6D object pose estimation. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). 11214 LNCS 19–35.