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Apr, 2022
6D多目标姿态估计的耦合迭代优化
Coupled Iterative Refinement for 6D Multi-Object Pose Estimation
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Lahav Lipson, Zachary Teed, Ankit Goyal, Jia Deng
TL;DR
提出了一种基于几何知识的端到端可微建构的方法，通过BD-PnP优化问题迭代地细化姿态估计和对应关系，并动态地删除离群值以提高准确性，从而在标准的6D物体姿态基准测试上实现了最新的准确性。
Abstract
We address the task of
6d multi-object pose
: given a set of known 3D objects and an RGB or
rgb-d input image
, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimat
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