Real-time object pose from one RGB-D image using hierarchical binary surface encoding with HiPose

Real-time object pose from one RGB-D image using hierarchical binary surface encoding with HiPose

HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimation
arXiv paper abstract https://arxiv.org/abs/2311.12588
arXiv PDF paper https://arxiv.org/pdf/2311.12588.pdf

… present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image.

… many existing data-driven methods … time-consuming due to their reliance on rendering-based refinement approaches.

… present HiPose, which establishes 3D-3D correspondences in a coarse-to-fine manner with a hierarchical binary surface encoding.

… estimate the correspondence surface by employing point-to-surface matching and iteratively constricting the surface until it becomes a correspondence point while gradually removing outliers.

… method surpasses all refinement-free methods and is even on par with expensive refinement-based approaches.

… approach is computationally efficient and enables real-time critical applications with high accuracy requirements …

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