I documented the full monocular RGB → 6D pose pipeline

I documented my monocular RGB → 6D pose estimation pipeline I finally put together the full project notes for my monocular RGB 6D pose estimation experiment. 6D Pose Estimation from Monocular RGB The pipeline is: Object Detection → Keypoint Detection → PnP → 6D Pose One part I found particularly interesting was improving the real-image keypoint annotations. Initially, I manually annotated the 2D keypoints. The keypoint predictions could look reasonable, but small geometric inconsistencies in the annotations sometimes caused large pose-axis flips or abrupt frame-to-frame changes after PnP. So I