Thanks for sharing good work.
I have some questions related to the performance on NOCS-REAL275 (Tab 1 & Tab 8)
Q1. Can I ask why the reported CASS performance of 5°, 5cm is different compared to the original CASS paper (23.5 vs 29.44)?? Can you explain how to get these results including mIoU, R_err, and T_err metrics?? Also, the reported 6-PACK performance of 5°, 5cm is worse than the original paper (33.3 vs 28.92).
Q2. Can you explain the Oracle ICP and what is different the ICP from 6-PACK?? The paper 6-PACK also reported the ICP and it performs close to NOCS at 5°, 5cm metric. Can you explain why your Oracle ICP is worse than NOCS??
Q3. As I understand your method uses the same random noise (scale = 0.02, rot = 5°, trans=3cm) with ground-truth initial pose during training and inference. Have you tried different parameter settings (ex, rot= 5°, trans=5cm)?? Also, Can you explain where the code is implemented related to rotation noise?? I only found the translation and scale noisy part of the below code.
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if perturb_cfg is not None: |