Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)

• URL: http://arxiv.org/abs/2305.15873v2
• Date: Mon, 8 Apr 2024 10:28:38 GMT
• Title: Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)
• Authors: Tsu-Ching Hsiao, Hao-Wei Chen, Hsuan-Kung Yang, Chun-Yi Lee,
• Abstract summary: 6D object pose estimation from single RGB images presents a significant challenge. We introduce a novel score-based diffusion method applied to the $SE(3)$ group. Extensive evaluations demonstrate the method's efficacy in handling pose ambiguity and mitigating perspective-induced ambiguity.
• Score: 9.720777218103052
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Addressing pose ambiguity in 6D object pose estimation from single RGB images presents a significant challenge, particularly due to object symmetries or occlusions. In response, we introduce a novel score-based diffusion method applied to the $SE(3)$ group, marking the first application of diffusion models to $SE(3)$ within the image domain, specifically tailored for pose estimation tasks. Extensive evaluations demonstrate the method's efficacy in handling pose ambiguity, mitigating perspective-induced ambiguity, and showcasing the robustness of our surrogate Stein score formulation on $SE(3)$. This formulation not only improves the convergence of denoising process but also enhances computational efficiency. Thus, we pioneer a promising strategy for 6D object pose estimation.

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