DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation
- URL: http://arxiv.org/abs/2207.02805v1
- Date: Wed, 6 Jul 2022 16:48:56 GMT
- Title: DPODv2: Dense Correspondence-Based 6 DoF Pose Estimation
- Authors: Ivan Shugurov, Sergey Zakharov, Slobodan Ilic
- Abstract summary: We propose a 3 stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector)
We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose refinement method to estimate a full 6 DoF pose.
DPODv2 achieves excellent results on all of them while still remaining fast and scalable independent of the used data modality and the type of training data.
- Score: 24.770767430749288
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: We propose a three-stage 6 DoF object detection method called DPODv2 (Dense
Pose Object Detector) that relies on dense correspondences. We combine a 2D
object detector with a dense correspondence estimation network and a multi-view
pose refinement method to estimate a full 6 DoF pose. Unlike other deep
learning methods that are typically restricted to monocular RGB images, we
propose a unified deep learning network allowing different imaging modalities
to be used (RGB or Depth). Moreover, we propose a novel pose refinement method,
that is based on differentiable rendering. The main concept is to compare
predicted and rendered correspondences in multiple views to obtain a pose which
is consistent with predicted correspondences in all views. Our proposed method
is evaluated rigorously on different data modalities and types of training data
in a controlled setup. The main conclusions is that RGB excels in
correspondence estimation, while depth contributes to the pose accuracy if good
3D-3D correspondences are available. Naturally, their combination achieves the
overall best performance. We perform an extensive evaluation and an ablation
study to analyze and validate the results on several challenging datasets.
DPODv2 achieves excellent results on all of them while still remaining fast and
scalable independent of the used data modality and the type of training data
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