A Unified Framework for Multi-view Multi-class Object Pose Estimation

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Abstract

One[NOSPACE] [NOSPACE][SPACE]core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately inferring six Degree-of-Freedom (6-DoF) pose for a large number of object classes from single or multiple views. To learn discriminative pose features, we integrate three new capabilities into a deep Convolutional Neural Network (CNN): an inference scheme that combines both classification and pose regression based on a uniform tessellation of the Special Euclidean group in three dimensions (SE(3)), the fusion of class priors into the training process via a tiled class map, and an additional regularization using deep supervision with an object mask. Further, an efficient multi-view framework is formulated to address single-view ambiguity. We show that this framework consistently improves the performance of the single-view network. We evaluate our method on three large-scale benchmarks: YCB-Video, JHUScene-50 and ObjectNet-3D. Our approach achieves competitive or superior performance over the current state-of-the-art methods.

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APA

Li, C., Bai, J., & Hager, G. D. (2018). A Unified Framework for Multi-view Multi-class Object Pose Estimation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11220 LNCS, pp. 263–281). Springer Verlag. https://doi.org/10.1007/978-3-030-01270-0_16

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