Symmetry-Aware 6D Object Pose Estimation via Multitask Learning
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...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8820500 |
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| _version_ | 1832546920292155392 |
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| author | Hongjia Zhang Junwen Huang Xin Xu Qiang Fang Yifei Shi |
| author_facet | Hongjia Zhang Junwen Huang Xin Xu Qiang Fang Yifei Shi |
| author_sort | Hongjia Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-05a1f79a18a64cbca1500621779bfe50 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-05a1f79a18a64cbca1500621779bfe502025-02-03T06:46:30ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88205008820500Symmetry-Aware 6D Object Pose Estimation via Multitask LearningHongjia Zhang0Junwen Huang1Xin Xu2Qiang Fang3Yifei Shi4National University of Defense Technology, Changsha, Hunan 410073, ChinaNational University of Defense Technology, Changsha, Hunan 410073, ChinaNational University of Defense Technology, Changsha, Hunan 410073, ChinaNational University of Defense Technology, Changsha, Hunan 410073, ChinaNational University of Defense Technology, Changsha, Hunan 410073, ChinaAlthough 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.http://dx.doi.org/10.1155/2020/8820500 |
| spellingShingle | Hongjia Zhang Junwen Huang Xin Xu Qiang Fang Yifei Shi Symmetry-Aware 6D Object Pose Estimation via Multitask Learning Complexity |
| title | Symmetry-Aware 6D Object Pose Estimation via Multitask Learning |
| title_full | Symmetry-Aware 6D Object Pose Estimation via Multitask Learning |
| title_fullStr | Symmetry-Aware 6D Object Pose Estimation via Multitask Learning |
| title_full_unstemmed | Symmetry-Aware 6D Object Pose Estimation via Multitask Learning |
| title_short | Symmetry-Aware 6D Object Pose Estimation via Multitask Learning |
| title_sort | symmetry aware 6d object pose estimation via multitask learning |
| url | http://dx.doi.org/10.1155/2020/8820500 |
| work_keys_str_mv | AT hongjiazhang symmetryaware6dobjectposeestimationviamultitasklearning AT junwenhuang symmetryaware6dobjectposeestimationviamultitasklearning AT xinxu symmetryaware6dobjectposeestimationviamultitasklearning AT qiangfang symmetryaware6dobjectposeestimationviamultitasklearning AT yifeishi symmetryaware6dobjectposeestimationviamultitasklearning |