Get pose of many symmetric objects from images using view fusion and symmetry objective with SyMFM6D
Get pose of many symmetric objects from images using view fusion and symmetry objective with SyMFM6D
SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimation
arXiv paper abstract https://arxiv.org/abs/2307.00306
arXiv PDF paper https://arxiv.org/pdf/2307.00306.pdf
GitHub https://github.com/boschresearch/SyMFM6D
Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment.
Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to object symmetries.
… overcome this issue by presenting a novel symmetry-aware multi-view 6D pose estimator called SyMFM6D … fuses the RGB-D frames from multiple perspectives in a deep … fusion network and predicts predefined keypoints for all objects in the scene simultaneously.
Based on the keypoints and an instance semantic segmentation, … efficiently compute the 6D poses by least-squares fitting.
To address the ambiguity … for symmetric objects, … propose a novel training procedure for symmetry-aware keypoint detection including a new objective function.
… SyMFM6D … outperforms the state-of-the-art in both single-view and multi-view 6D pose estimation … robust towards inaccurate camera calibration and dynamic camera setups.
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