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**Good news! We release a clean version of PVNet: [clean-pvnet](https://github.com/zju3dv/clean-pvnet), including [how to train the PVNet on the custom dataset](https://github.com/zju3dv/clean-pvnet#training-on-the-custom-dataset).**
**Good news! We release a clean version of PVNet: [clean-pvnet](https://github.com/zju3dv/clean-pvnet), including**
1.[how to train the PVNet on the custom dataset](https://github.com/zju3dv/clean-pvnet#training-on-the-custom-dataset).
2. The training and testing on the tless dataset, where we detect multiple instances in an image.
# PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation