Symmetry-Aware 6D Object Pose Estimation via Multitask Learning Article Swipe

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Hongjia Zhang , Junwen Huang , Xin Xu , Qiang Fang , Yifei Shi ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.1155/2020/8820500

Although 6D object pose estimation has been intensively explored in the past decades, the performance is still not fully satisfactory, especially when it comes to symmetric objects. In this paper, we study the problem of 6D object pose estimation by leveraging the information of object symmetry. To this end, a network is proposed that predicts 6D object pose and object reflectional symmetry as well as the key points simultaneously via a multitask learning scheme. Consequently, the pose estimation is aware of and regulated by the symmetry axis and the key points of the to-be-estimated objects. Moreover, we devise an optimization function to refine the predicted 6D object pose by considering the predicted symmetry. Experiments on two datasets demonstrate that the proposed symmetry-aware approach outperforms the existing methods in terms of predicting 6D pose estimation of symmetric objects.

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Computer Science

Artificial Intelligence

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Pose Object (grammar) Symmetry (geometry) Computer science 3D pose estimation Artificial intelligence Articulated body pose estimation Function (biology) Reflection symmetry Key (lock) Computer vision Object model Mathematics Geometry Evolutionary biology Computer security Biology

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Type: article
Language: en
Landing Page: http://doi.org/10.1155/2020/8820500
PDF: https://downloads.hindawi.com/journals/complexity/2020/8820500.pdf
OA Status: gold
Cited By: 3
References: 51
Related Works: 10
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DOI: https://doi.org/10.1155/2020/8820500

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Title: Symmetry-Aware 6D Object Pose Estimation via Multitask Learning

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Language: en

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Publication year: 2020

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Publication date: 2020-10-21

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Authors: Hongjia Zhang, Junwen Huang, Xin Xu, Qiang Fang, Yifei Shi

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Landing page: https://doi.org/10.1155/2020/8820500

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Concepts: Pose, Object (grammar), Symmetry (geometry), Computer science, 3D pose estimation, Artificial intelligence, Articulated body pose estimation, Function (biology), Reflection symmetry, Key (lock), Computer vision, Object model, Mathematics, Geometry, Evolutionary biology, Computer security, Biology

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Cited by: 3

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Citations by year (recent): 2023: 1, 2022: 2

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