LocPoseNet: Robust Location Prior for Unseen Object Pose Estimation
This addresses a critical bottleneck in robotics and AR/VR by enabling accurate pose estimation for unseen objects, though it is an incremental improvement over existing template matching strategies.
The paper tackles the problem of 6D object pose estimation for unseen objects by developing LocPoseNet, which robustly learns location prior without ground-truth location, outperforming existing methods by a large margin on LINEMOD and GenMOP datasets.
Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are used for this purpose do not generalize to unseen objects. Therefore, existing 6D pose estimation methods for unseen objects either assume the ground-truth object location to be known or yield inaccurate results when it is unavailable. In this paper, we address this problem by developing a method, LocPoseNet, able to robustly learn location prior for unseen objects. Our method builds upon a template matching strategy, where we propose to distribute the reference kernels and convolve them with a query to efficiently compute multi-scale correlations. We then introduce a novel translation estimator, which decouples scale-aware and scale-robust features to predict different object location parameters. Our method outperforms existing works by a large margin on LINEMOD and GenMOP. We further construct a challenging synthetic dataset, which allows us to highlight the better robustness of our method to various noise sources. Our project website is at: https://sailor-z.github.io/projects/3DV2024_LocPoseNet.html.