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6D Object Pose Estimation in Cluttered Scenes from RGB Images

文献类型：期刊论文

作者Yang, Xiao-Long1,2; Jia, Xiao-Hong1,2; Liang, Yuan3; Fan, Lu-Bin3
刊名JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
出版日期2022-06-01
卷号37期号:3页码:719-730
关键词two-stream network 6D pose estimation fusion feature
ISSN号1000-9000
DOI10.1007/s11390-021-1311-2
英文摘要We propose a feature-fusion network for pose estimation directly from RGB images without any depth information in this study. First, we introduce a two-stream architecture consisting of segmentation and regression streams. The segmentation stream processes the spatial embedding features and obtains the corresponding image crop. These features are further coupled with the image crop in the fusion network. Second, we use an efficient perspective-n-point (E-PnP) algorithm in the regression stream to extract robust spatial features between 3D and 2D keypoints. Finally, we perform iterative refinement with an end-to-end mechanism to improve the estimation performance. We conduct experiments on two public datasets of YCB-Video and the challenging Occluded-LineMOD. The results show that our method outperforms state-of-the-art approaches in both the speed and the accuracy.
资助项目National Key Research and Development Program of China[2021YFB1715900] ; National Natural Science Foundation of China[12022117] ; National Natural Science Foundation of China[61802406] ; Beijing Natural Science Foundation[Z190004] ; Beijing Advanced Discipline Fund[115200S001] ; Alibaba Group through Alibaba Innovative Research Program
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000812520400016
出版者SCIENCE PRESS
源URL[http://ir.amss.ac.cn/handle/2S8OKBNM/61238]  
专题中国科学院数学与系统科学研究院
通讯作者Jia, Xiao-Hong
作者单位1.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Alibaba Grp, Alibaba DAMO Acad, Hangzhou 311121, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Xiao-Long,Jia, Xiao-Hong,Liang, Yuan,et al. 6D Object Pose Estimation in Cluttered Scenes from RGB Images[J]. JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,2022,37(3):719-730.
APA Yang, Xiao-Long,Jia, Xiao-Hong,Liang, Yuan,&Fan, Lu-Bin.(2022).6D Object Pose Estimation in Cluttered Scenes from RGB Images.JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,37(3),719-730.
MLA Yang, Xiao-Long,et al."6D Object Pose Estimation in Cluttered Scenes from RGB Images".JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY 37.3(2022):719-730.

入库方式： OAI收割

来源：数学与系统科学研究院

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