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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). **
# PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation