DRNet: A Depth-Based Regression Network for 6D Object Pose Estimation.
Sensors (Basel)
; 21(5)2021 Mar 01.
Article
em En
| MEDLINE
| ID: mdl-33804518
ABSTRACT
This paper focuses on 6Dof object pose estimation from a single RGB image. We tackle this challenging problem with a two-stage optimization framework. More specifically, we first introduce a translation estimation module to provide an initial translation based on an estimated depth map. Then, a pose regression module combines the ROI (Region of Interest) and the original image to predict the rotation and refine the translation. Compared with previous end-to-end methods that directly predict rotations and translations, our method can utilize depth information as weak guidance and significantly reduce the searching space for the subsequent module. Furthermore, we design a new loss function function for symmetric objects, an approach that has handled such exceptionally difficult cases in prior works. Experiments show that our model achieves state-of-the-art object pose estimation for the YCB- video dataset (Yale-CMU-Berkeley).
Texto completo:
1
Base de dados:
MEDLINE
Tipo de estudo:
Prognostic_studies
Idioma:
En
Ano de publicação:
2021
Tipo de documento:
Article