Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images
Abstract
In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need the high-quality object models or require additional depth maps or object masks in test time, which significantly limits their application scope. In contrast, our pose estimator only requires some posed images of the unseen object and is able to accurately predict poses of the object in arbitrary environments. Gen6D consists of an object detector, a viewpoint selector and a pose refiner, all of which do not require the 3D object model and can generalize to unseen objects. Experiments show that Gen6D achieves state-of-the-art results on two model-free datasets: the MOPED dataset and a new GenMOP dataset. In addition, on the LINEMOD dataset, Gen6D achieves competitive results compared with instance-specific pose estimators.
Cite
Text
Liu et al. "Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images." Proceedings of the European Conference on Computer Vision (ECCV), 2022. doi:10.1007/978-3-031-19824-3_18Markdown
[Liu et al. "Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images." Proceedings of the European Conference on Computer Vision (ECCV), 2022.](https://mlanthology.org/eccv/2022/liu2022eccv-gen6d/) doi:10.1007/978-3-031-19824-3_18BibTeX
@inproceedings{liu2022eccv-gen6d,
title = {{Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images}},
author = {Liu, Yuan and Wen, Yilin and Peng, Sida and Lin, Cheng and Long, Xiaoxiao and Komura, Taku and Wang, Wenping},
booktitle = {Proceedings of the European Conference on Computer Vision (ECCV)},
year = {2022},
doi = {10.1007/978-3-031-19824-3_18},
url = {https://mlanthology.org/eccv/2022/liu2022eccv-gen6d/}
}