Multi-View Keypoints for Reliable 6D Object Pose Estimation

• URL: http://arxiv.org/abs/2303.16833v1
• Date: Wed, 29 Mar 2023 16:28:11 GMT
• Title: Multi-View Keypoints for Reliable 6D Object Pose Estimation
• Authors: Alan Li and Angela P. Schoellig
• Abstract summary: We propose a novel multi-view approach to combine heatmap and keypoint estimates into a probability density map over 3D space. We demonstrate an average pose estimation error of approximately 0.5mm and 2 degrees across a variety of difficult low-feature and reflective objects.
• Score: 12.436320203635143
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: 6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and self-occlusion between objects of the same type is common. We propose a novel multi-view approach leveraging known camera transformations from an eye-in-hand setup to combine heatmap and keypoint estimates into a probability density map over 3D space. The result is a robust approach that is scalable in the number of views. It relies on a confidence score composed of keypoint probabilities and point-cloud alignment error, which allows reliable rejection of false positives. We demonstrate an average pose estimation error of approximately 0.5mm and 2 degrees across a variety of difficult low-feature and reflective objects in the ROBI dataset, while also surpassing the state-of-art correct detection rate, measured using the 10% object diameter threshold on ADD error.

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