@article{6dobjectposeestimationusingkeypointsand,
  title = {6D Object Pose Estimation using Keypoints and Part Affinity Fields},
  author = {Moritz Zappel and Simon Bultmann and Sven Behnke},
  year = {2021},
  eprint = {2107.02057},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.02057v2},
}