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Survey on 6D Pose Estimation of Rigid Object | Chen2020, Real-Time…
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Object
Pose estimation
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Classification
Dense methods In these methods, every pixel or patch produces a prediction for the desired output, and then casts a vote for the final result
Keypoint-based methods. Instead of directly obtaining the pose from an image, keypoint-based methods adopt a two-stage pipeline
Holistic methods Given an image, some methods aim to estimate the 3D location and orientation of the object in a single shot.
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Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation | Park2019 |10.1109/ICCV.2019.00776
Summary
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Bounding Box > predicts pixel-wise 3D coordinates > specialized loss: transformer loss>Pose computed using PnP
Insights
COLORED COORDINATE MODEL
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Experiments
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LineMOD [8], LineMOD Occlusion [1], and T- Less [9],
Keyphrases
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many failure cases are related to unseen poses that are not sufficiently covered by training images or the augmentation process.
Estimating the 6D pose of objects using only RGB im-
ages remains challenging because of problems such as oc- clusion and symmetries
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BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Dept
| Lepetit2017| arXiv:1703.10896v1
Keyphrases
Our full approach is also very fast, as it only requires to apply Deep Networks to the input image a few times.
it is not always possible to use depth cameras, as they fail outdoor or on specular objects. In addition, they drain the batteries of mobile devices, being an active sensor.
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Experiments
Datasets: LINEMOD, Occlusion and T-LESS
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Metrics: 2D projections, 6D pose, 5cm 5° metrics
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Autonomy for Mars Rovers: Past, Present, and Future | Bajracharya2008
keyphrases
the vehicles used to explore the martian surface require a high degree of autonomy to navigate challenging and unknown terrain, investigate targets, and detect scientific events. Increased autonomy will be critical to the success of future missions.
High-bandwidth, low-latency communications make
direct teleoperation of a vehicle possible. Unfortunately, the round-trip communication delay between Earth and Mars ranges from 8 to 42 minutes for MER