@article{manhardt2020cps,
  title={CPS++: Improving Class-level 6D Pose and Shape EstimationFrom Monocular Images With Self-Supervised Learning},
  author={Manhardt, Fabian and Wang, Gu and Busam, Benjamin and Nickel, Manuel and Meier, Sven and Minciullo, Luca and Ji, Xiangyang and Navab, Nassir},
  journal={arXiv preprint arXiv:2003.05848v3},
  year={2020}
}