3D object pose from video scan without CAD model or training with OnePose


3D object pose from video scan without CAD model or training with OnePose

OnePose: One-Shot Object Pose Estimation without CAD Models
arXiv paper abstract https://arxiv.org/abs/2205.12257
arXiv PDF paper https://arxiv.org/pdf/2205.12257.pdf
Project page https://zju3dv.github.io/onepose
Twitter video https://twitter.com/XiaoweiZhou5/status/1529415986142916608

… propose a new method named OnePose for object pose estimation.

… OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or category-specific network training.

OnePose draws the idea from visual localization and only requires a simple RGB video scan of the object to build a sparse SfM model of the object.

Then, this model is registered to new query images with a generic feature matching network.

To mitigate the slow runtime … propose a new graph attention network that directly matches 2D interest points in the query image with the 3D points in the SfM model

… able to stably detect and track 6D poses of everyday household objects in real-time …

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