@inproceedings{lin2022single,
  title = {Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an {RGB} Image},
  author = {Lin, Yunzhi and Tremblay, Jonathan and Tyree, Stephen and Vela, Patricio A. and Birchfield, Stan},
  year = {2022},
  month = {May},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  eprint = {2109.06161},
  archiveprefix = {arxiv},
}