scholarly journals CSA6D: Channel-Spatial Attention Networks for 6D Object Pose Estimation

2021 ◽  
Author(s):  
Tao Chen ◽  
Dongbing Gu
Keyword(s):  
Spatial Attention ◽  
Pose Estimation ◽  
Estimation Accuracy ◽  
Pose Prediction ◽  
Attention Networks ◽  
Depth Images ◽  
Segmented Object ◽  
Benchmark Datasets ◽  
Object Pose Estimation ◽  
Network Channel

Abstract6D object pose estimation plays a crucial role in robotic manipulation and grasping tasks. The aim to estimate the 6D object pose from RGB or RGB-D images is to detect objects and estimate their orientations and translations relative to the given canonical models. RGB-D cameras provide two sensory modalities: RGB and depth images, which could benefit the estimation accuracy. But the exploitation of two different modality sources remains a challenging issue. In this paper, inspired by recent works on attention networks that could focus on important regions and ignore unnecessary information, we propose a novel network: Channel-Spatial Attention Network (CSA6D) to estimate the 6D object pose from RGB-D camera. The proposed CSA6D includes a pre-trained 2D network to segment the interested objects from RGB image. Then it uses two separate networks to extract appearance and geometrical features from RGB and depth images for each segmented object. Two feature vectors for each pixel are stacked together as a fusion vector which is refined by an attention module to generate a aggregated feature vector. The attention module includes a channel attention block and a spatial attention block which can effectively leverage the concatenated embeddings into accurate 6D pose prediction on known objects. We evaluate proposed network on two benchmark datasets YCB-Video dataset and LineMod dataset and the results show it can outperform previous state-of-the-art methods under ADD and ADD-S metrics. Also, the attention map demonstrates our proposed network searches for the unique geometry information as the most likely features for pose estimation. From experiments, we conclude that the proposed network can accurately estimate the object pose by effectively leveraging multi-modality features.

scholarly journals RobotP: A Benchmark Dataset for 6D Object Pose Estimation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1299
Author(s):  
Honglin Yuan ◽  
Tim Hoogenkamp ◽  
Remco C. Veltkamp
Keyword(s):  
Pose Estimation ◽  
Ground Truth ◽  
3D Models ◽  
Depth Image ◽  
Great Success ◽  
Estimation Algorithms ◽  
Depth Images ◽  
Object Pose Estimation ◽  
Image Pairs ◽  
Bounding Boxes

Deep learning has achieved great success on robotic vision tasks. However, when compared with other vision-based tasks, it is difficult to collect a representative and sufficiently large training set for six-dimensional (6D) object pose estimation, due to the inherent difficulty of data collection. In this paper, we propose the RobotP dataset consisting of commonly used objects for benchmarking in 6D object pose estimation. To create the dataset, we apply a 3D reconstruction pipeline to produce high-quality depth images, ground truth poses, and 3D models for well-selected objects. Subsequently, based on the generated data, we produce object segmentation masks and two-dimensional (2D) bounding boxes automatically. To further enrich the data, we synthesize a large number of photo-realistic color-and-depth image pairs with ground truth 6D poses. Our dataset is freely distributed to research groups by the Shape Retrieval Challenge benchmark on 6D pose estimation. Based on our benchmark, different learning-based approaches are trained and tested by the unified dataset. The evaluation results indicate that there is considerable room for improvement in 6D object pose estimation, particularly for objects with dark colors, and photo-realistic images are helpful in increasing the performance of pose estimation algorithms.

scholarly journals Pose Estimation of Primitive-Shaped Objects from a Depth Image Using Superquadric Representation

2020 ◽  
Vol 10 (16) ◽  
pp. 5442
Author(s):  
Ryo Hachiuma ◽  
Hideo Saito
Keyword(s):  
Pose Estimation ◽  
Degrees Of Freedom ◽  
Shape Representation ◽  
Estimation Method ◽  
Depth Image ◽  
Six Degrees Of Freedom ◽  
Depth Images ◽  
Object Pose Estimation ◽  
Primitive Shape ◽  
Conventional Methods

This paper presents a method for estimating the six Degrees of Freedom (6DoF) pose of texture-less primitive-shaped objects from depth images. As the conventional methods for object pose estimation require rich texture or geometric features to the target objects, these methods are not suitable for texture-less and geometrically simple shaped objects. In order to estimate the pose of the primitive-shaped object, the parameters that represent primitive shapes are estimated. However, these methods explicitly limit the number of types of primitive shapes that can be estimated. We employ superquadrics as a primitive shape representation that can represent various types of primitive shapes with only a few parameters. In order to estimate the superquadric parameters of primitive-shaped objects, the point cloud of the object must be segmented from a depth image. It is known that the parameter estimation is sensitive to outliers, which are caused by the miss-segmentation of the depth image. Therefore, we propose a novel estimation method for superquadric parameters that are robust to outliers. In the experiment, we constructed a dataset in which the person grasps and moves the primitive-shaped objects. The experimental results show that our estimation method outperformed three conventional methods and the baseline method.

scholarly journals Designing Compact Convolutional Filters for Lightweight Human Pose Estimation

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Shili Niu ◽  
Weihua Ou ◽  
Shihua Feng ◽  
Jianping Gou ◽  
Fei Long ◽  
...  
Keyword(s):  
Pose Estimation ◽  
State Of The Art ◽  
Computational Cost ◽  
Estimation Accuracy ◽  
Human Pose Estimation ◽  
Model Parameters ◽  
Resource Limited ◽  
Benchmark Datasets ◽  
Human Pose ◽  
Low Computational Cost

Existing methods for human pose estimation usually use a large intermediate tensor, leading to a high computational load, which is detrimental to resource-limited devices. To solve this problem, we propose a low computational cost pose estimation network, MobilePoseNet, which includes encoder, decoder, and parallel nonmaximum suppression operation. Specifically, we design a lightweight upsampling block instead of transposing the convolution as the decoder and use the lightweight network as our downsampling part. Then, we choose the high-resolution features as the input for upsampling to reduce the number of model parameters. Finally, we propose a parallel OKS-NMS, which significantly outperforms the conventional NMS in terms of accuracy and speed. Experimental results on the benchmark datasets show that MobilePoseNet obtains almost comparable results to state-of-the-art methods with a low compilation load. Compared to SimpleBaseline, the parameter of MobilePoseNet is only 4%, while the estimation accuracy reaches 98%.

scholarly journals Synthetic Depth Transfer for Monocular 3D Object Pose Estimation in the Wild

2020 ◽  
Vol 34 (07) ◽  
pp. 11221-11228
Author(s):  
Yueying Kao ◽  
Weiming Li ◽  
Qiang Wang ◽  
Zhouchen Lin ◽  
Wooshik Kim ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Large Scale ◽  
Synthetic Data ◽  
Real Data ◽  
Depth Image ◽  
Depth Images ◽  
In The Wild ◽  
Object Pose Estimation ◽  
Image Pairs ◽  
Rgb Image

Monocular object pose estimation is an important yet challenging computer vision problem. Depth features can provide useful information for pose estimation. However, existing methods rely on real depth images to extract depth features, leading to its difficulty on various applications. In this paper, we aim at extracting RGB and depth features from a single RGB image with the help of synthetic RGB-depth image pairs for object pose estimation. Specifically, a deep convolutional neural network is proposed with an RGB-to-Depth Embedding module and a Synthetic-Real Adaptation module. The embedding module is trained with synthetic pair data to learn a depth-oriented embedding space between RGB and depth images optimized for object pose estimation. The adaptation module is to further align distributions from synthetic to real data. Compared to existing methods, our method does not need any real depth images and can be trained easily with large-scale synthetic data. Extensive experiments and comparisons show that our method achieves best performance on a challenging public PASCAL 3D+ dataset in all the metrics, which substantiates the superiority of our method and the above modules.

C-Reference: Improving 2D to 3D Object Pose Estimation Accuracy via Crowdsourced Joint Object Estimation

2020 ◽  
Vol 4 (CSCW1) ◽  
pp. 1-28
Author(s):  
Jean Y. Song ◽  
John Joon Young Chung ◽  
David F. Fouhey ◽  
Walter S. Lasecki
Keyword(s):  
Pose Estimation ◽  
Estimation Accuracy ◽  
3D Object ◽  
Object Pose Estimation ◽  
2D To 3D

HOT-Net: Non-Autoregressive Transformer for 3D Hand-Object Pose Estimation

2020 ◽  
Author(s):  
Lin Huang ◽  
Jianchao Tan ◽  
Jingjing Meng ◽  
Ji Liu ◽  
Junsong Yuan
Keyword(s):  
Pose Estimation ◽  
Object Pose Estimation
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