DProST: 6-DoF Object Pose Estimation Using Space Carving and Dynamic Projective Spatial Transformer
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Predicting the pose of an object is a core computer vision task. Most deep learning-based pose estimation methods require CAD data to use 3D intermediate representations or project 2D appearance. However, these methods cannot be used when CAD data for objects of interest are unavailable. Besides, the existing methods did not precisely reflect the perspective distortion to the learning process. In addition, information loss due to self-occlusion has not been studied well. In this regard, we propose a new pose estimation system consisting of a space carving module that reconstructs a reference 3D feature to replace the CAD data. Moreover, Our new transformation module, Dynamic Projective Spatial Transformer (DProST), transforms a reference 3D feature to reflect the pose while considering perspective distortion. Also, we overcome the self-occlusion problem by a new Bidirectional Z-buffering (BiZ-buffer) method, which extracts both the front view and the self-occluded back view of the object. Lastly, we suggest a Perspective Grid Distance Loss (PGDL), enabling stable learning of the pose estimator without CAD data. Experimental results show that our method outperforms the state-of-the-art method on the LINEMOD dataset and comparable performance on LINEMOD-OCCLUSION dataset even compared to the methods that require CAD data in network training.
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