PointPoseNet:Point pose network for robust 6D object pose estimation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Colleges, School and Institutes

External organisations

  • School of Computer Science
  • National University of Defense Technology

Abstract

In this paper, we propose a novel pipeline to estimate 6D object pose from RGB-D images of known objects present in complex scenes. The pipeline directly operates on raw point clouds extracted from RGB-D scans. Specifically, our method takes the point cloud as input and regresses the point-wise unit vectors pointing to the 3D keypoints. We then use these vectors to generate keypoint hypotheses from which the 6D object pose hypotheses are computed. Finally, we select the best 6D object pose from the hypotheses based on a proposed scoring mechanism with geometry constraints. Extensive experiments show that the proposed method is robust against the variety in object shape and appearance as well as occlusions between objects, and that our method outperforms the state-of-the-art methods on the LINEMOD and Occlusion LINEMOD datasets.

Bibliographic note

Funding Information: Acknowledgement We acknowledge MoD/Dstl and EP-SRC (EP/N019415/1) for providing the grant to support the UK academics involvement in MURI project. Funding Information: We acknowledge MoD/Dstl and EPSRC (EP/N019415/1) for providing the grant to support the UK academics involvement in MURI project. Publisher Copyright: © 2020 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

Details

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE Winter Conference on Applications of Computer Vision, WACV 2020
Publication statusPublished - Mar 2020
Event2020 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2020 - Snowmass Village, United States
Duration: 1 Mar 20205 Mar 2020

Publication series

NameProceedings - 2020 IEEE Winter Conference on Applications of Computer Vision, WACV 2020

Conference

Conference2020 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2020
CountryUnited States
CitySnowmass Village
Period1/03/205/03/20