计算机视觉
人工智能
姿势
计算机科学
RGB颜色模型
关节式人体姿态估计
对象(语法)
三维姿态估计
模式识别(心理学)
作者
Yixiang Jin,J.A. Rossiter,Sándor M. Veres
出处
期刊:International Conference Robotics and Computer Vision
日期:2021-01-01
标识
DOI:10.5220/0010654500003061
摘要
Estimating the 6D pose of objects is an essential part of a robot’s ability to perceive their environment. This paper proposes a method for detecting a known object and estimating its 6D pose from a single RGB image. Unlike most of the state-of-the-art methods that deploy PnP algorithms for estimating 6D pose, the method here can output the 6D pose in one step. In order to obtain estimation accuracy that is comparable to RGB-D based methods, an efficient refinement algorithm, called contour alignment (CA), is presented; this can increase the predicted 6D pose accuracy significantly. We evaluate the new method in two widely used benchmarks, LINEMOD for single object pose estimation and Occlusion-LINEMOD for multiple objects
pose estimation. The experiments show that the proposed method surpasses other state-of-the-art prediction approaches.
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