@article{Wang_2021_self6dpp,
  title     = {Occlusion-Aware Self-Supervised Monocular {6D} Object Pose Estimation},
  author    = {Wang, Gu and Manhardt, Fabian and Liu, Xingyu and Ji, Xiangyang and Tombari, Federico},
  journal   = {IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)},
  year      = {2021},
  doi       = {10.1109/TPAMI.2021.3136301}
}