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Palazzi, Andrea; Bergamini, Luca; Calderara, Simone; Cucchiara, Rita "End-to-end 6-DoF Object Pose Estimation through Differentiable Rasterization" Proceedings of European Conference on Computer Vision Workshops, Munich, Germany, pp. 702 -715 , 8 - 14 September 2018, 2019 DOI: 10.1007/978-3-030-11015-4_53

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