  Applications that interact with the real world such as augmented reality or
robot manipulation require a good understanding of the location and pose of the
surrounding objects. In this paper, we present a new approach to estimate the 6
Degree of Freedom (DoF) or 6D pose of objects from a single RGB image. Our
approach can be paired with an object detection and segmentation method to
estimate, refine and track the pose of the objects by matching the input image
with rendered images.
