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In this paper, we study the problem of 6D object pose estimation by leveraging the information of object symmetry. To this end, a network is proposed that predicts 6D object pose and object reflectional symmetry as well as the key points simultaneously via a multitask learning scheme. Consequently, the pose estimation is aware of and regulated by the symmetry axis and the key points of the to-be-estimated objects. Moreover, we devise an optimization function to refine the predicted 6D object pose by considering the predicted symmetry. Experiments on two datasets demonstrate that the proposed symmetry-aware approach outperforms the existing methods in terms of predicting 6D pose estimation of symmetric objects.<\/jats:p>","DOI":"10.1155\/2020\/8820500","type":"journal-article","created":{"date-parts":[[2020,10,22]],"date-time":"2020-10-22T01:05:09Z","timestamp":1603328709000},"page":"1-7","source":"Crossref","is-referenced-by-count":3,"title":["Symmetry-Aware 6D Object Pose Estimation via Multitask Learning"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5790-3655","authenticated-orcid":true,"given":"Hongjia","family":"Zhang","sequence":"first","affiliation":[{"name":"National University of Defense Technology, Changsha, Hunan 410073, China"}]},{"given":"Junwen","family":"Huang","sequence":"additional","affiliation":[{"name":"National University of Defense Technology, Changsha, Hunan 410073, China"}]},{"given":"Xin","family":"Xu","sequence":"additional","affiliation":[{"name":"National University of Defense Technology, Changsha, Hunan 410073, China"}]},{"given":"Qiang","family":"Fang","sequence":"additional","affiliation":[{"name":"National University of Defense Technology, Changsha, Hunan 410073, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2069-417X","authenticated-orcid":true,"given":"Yifei","family":"Shi","sequence":"additional","affiliation":[{"name":"National University of Defense Technology, Changsha, Hunan 410073, China"}]}],"member":"311","reference":[{"author":"M. 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