OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Models

• URL: http://arxiv.org/abs/2301.07673v1
• Date: Wed, 18 Jan 2023 17:47:13 GMT
• Title: OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Models
• Authors: Xingyi He, Jiaming Sun, Yuang Wang, Di Huang, Hujun Bao, Xiaowei Zhou
• Abstract summary: OnePose relies on detecting repeatable image keypoints and is thus prone to failure on low-textured objects. We propose a keypoint-free pose estimation pipeline to remove the need for repeatable keypoint detection. A 2D-3D matching network directly establishes 2D-3D correspondences between the query image and the reconstructed point-cloud model.
• Score: 51.68715543630427
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific training. However, OnePose relies on detecting repeatable image keypoints and is thus prone to failure on low-textured objects. We propose a keypoint-free pose estimation pipeline to remove the need for repeatable keypoint detection. Built upon the detector-free feature matching method LoFTR, we devise a new keypoint-free SfM method to reconstruct a semi-dense point-cloud model for the object. Given a query image for object pose estimation, a 2D-3D matching network directly establishes 2D-3D correspondences between the query image and the reconstructed point-cloud model without first detecting keypoints in the image. Experiments show that the proposed pipeline outperforms existing one-shot CAD-model-free methods by a large margin and is comparable to CAD-model-based methods on LINEMOD even for low-textured objects. We also collect a new dataset composed of 80 sequences of 40 low-textured objects to facilitate future research on one-shot object pose estimation. The supplementary material, code and dataset are available on the project page: https://zju3dv.github.io/onepose_plus_plus/.

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