@inproceedings{irshad2022centersnap, title={CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation}, author={Muhammad Zubair Irshad and Thomas Kollar and Michael Laskey and Kevin Stone and Zsolt Kira}, journal={IEEE International Conference on Robotics and Automation (ICRA)}, year={2022}, url={https://arxiv.org/abs/2203.01929}, }