Get orientation of object without an object model with Gen6D
Get orientation of object without an object model with Gen6D
Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images
arXiv paper abstract https://arxiv.org/abs/2204.10776
arXiv PDF paper https://arxiv.org/pdf/2204.10776.pdf
Project page https://liuyuan-pal.github.io/Gen6D/
Twitter video https://twitter.com/ak92501/status/1518441419664461824
… present a generalizable model-free 6-DoF object pose estimator called Gen6D.
Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time, which significantly limits their application scope.
In contrast, … only requires some posed images of the unseen object and is able to accurately predict the poses of the object in arbitrary environments.
Gen6D consists of an object detector, a viewpoint selector and a pose refiner, all of which do not require the 3D object model and can generalize to unseen objects.
… show that Gen6D achieves state-of-the-art results on two model-free datasets: the MOPED dataset and a new GenMOP dataset
… on the LINEMOD dataset, Gen6D achieves competitive results compared with instance-specific pose estimators. …
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