DRNet: A Depth-Based Regression Network for 6D Object Pose Estimation

• Main Authors: Lei Jin, Xiaojuan Wang, Mingshu He, Jingyue Wang
• Format: Article
• Language: English
• Published: MDPI AG 2021-03-01
• Series: Sensors
• Subjects: 6Dof pose estimation; rotations; translations
• Online Access: https://www.mdpi.com/1424-8220/21/5/1692

This paper focuses on 6Dof object pose estimation from a single RGB image. We tackle this challenging problem with a two-stage optimization framework. More specifically, we first introduce a translation estimation module to provide an initial translation based on an estimated depth map. Then, a pose regression module combines the ROI (Region of Interest) and the original image to predict the rotation and refine the translation. Compared with previous end-to-end methods that directly predict rotations and translations, our method can utilize depth information as weak guidance and significantly reduce the searching space for the subsequent module. Furthermore, we design a new loss function function for symmetric objects, an approach that has handled such exceptionally difficult cases in prior works. Experiments show that our model achieves state-of-the-art object pose estimation for the YCB- video dataset (Yale-CMU-Berkeley).