A Pose Proposal and Refinement Network for Better Object Pose Estimation
This work addresses the problem of accurate object pose estimation for robotics and AR/VR applications, presenting an incremental improvement over existing RGB-based methods.
The paper tackles 6D object pose estimation from RGB images by proposing a two-stage method with a pose proposal network and a refinement module, achieving state-of-the-art performance on three benchmarks with competitive runtime.
In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial 6D pose estimate through a multi-task, CNN-based encoder/multi-decoder module. The second component, a refinement module, includes a renderer and a multi-attentional pose refinement network, which iteratively refines the estimated poses by utilizing both appearance features and flow vectors. Our refiner takes advantage of the hybrid representation of the initial pose estimates to predict the relative errors with respect to the target poses. It is further augmented by a spatial multi-attention block that emphasizes objects' discriminative feature parts. Experiments on three benchmarks for 6D pose estimation show that our proposed pipeline outperforms state-of-the-art RGB-based methods with competitive runtime performance.