On Object Symmetries and 6D Pose Estimation from Images

08/20/2019
by   Giorgia Pitteri, et al.
1

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries of a 3D object and its appearance in images. We explain why symmetrical objects can be a challenge when training machine learning algorithms that aim at estimating their 6D pose from images. We propose an efficient and simple solution that relies on the normalization of the pose rotation. Our approach is general and can be used with any 6D pose estimation algorithm. Moreover, our method is also beneficial for objects that are 'almost symmetrical', i.e. objects for which only a detail breaks the symmetry. We validate our approach within a Faster-RCNN framework on a synthetic dataset made with objects from the T-Less dataset, which exhibit various types of symmetries, as well as real sequences from T-Less.

READ FULL TEXT

page 7

page 8

research
06/15/2021

Object detection and Autoencoder-based 6D pose estimation for highly cluttered Bin Picking

Bin picking is a core problem in industrial environments and robotics, w...
research
10/13/2018

Pose Estimation for Objects with Rotational Symmetry

Pose estimation is a widely explored problem, enabling many robotic task...
research
09/17/2022

6DOF Pose Estimation of a 3D Rigid Object based on Edge-enhanced Point Pair Features

The point pair feature (PPF) is widely used for 6D pose estimation. In t...
research
04/17/2023

Uncovering the Background-Induced bias in RGB based 6-DoF Object Pose Estimation

In recent years, there has been a growing trend of using data-driven met...
research
11/26/2020

Handling Object Symmetries in CNN-based Pose Estimation

In this paper we investigate the problems that Convolutional Neural Netw...
research
06/23/2022

Unseen Object 6D Pose Estimation: A Benchmark and Baselines

Estimating the 6D pose for unseen objects is in great demand for many re...
research
10/31/2020

Pose Estimation of Specular and Symmetrical Objects

In the robotic industry, specular and textureless metallic components ar...

Please sign up or login with your details

Forgot password? Click here to reset