Fit-NGP: Fitting Object Models to Neural Graphics Primitives
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866929198371700736 |
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| author | Taher, Marwan Alzugaray, Ignacio Davison, Andrew J. |
| author_facet | Taher, Marwan Alzugaray, Ignacio Davison, Andrew J. |
| contents | Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction method is suitable for highly accurate and robust pose estimation for objects with known 3D models, even when they are very small and with challenging reflective surfaces. We present a fully automatic object pose estimation system based on a robot arm with a single wrist-mounted camera, which can scan a scene from scratch, detect and estimate the 6-Degrees of Freedom (DoF) poses of multiple objects within a couple of minutes of operation. Small objects such as bolts and nuts are estimated with accuracy on order of 1mm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_02357 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Fit-NGP: Fitting Object Models to Neural Graphics Primitives Taher, Marwan Alzugaray, Ignacio Davison, Andrew J. Computer Vision and Pattern Recognition Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction method is suitable for highly accurate and robust pose estimation for objects with known 3D models, even when they are very small and with challenging reflective surfaces. We present a fully automatic object pose estimation system based on a robot arm with a single wrist-mounted camera, which can scan a scene from scratch, detect and estimate the 6-Degrees of Freedom (DoF) poses of multiple objects within a couple of minutes of operation. Small objects such as bolts and nuts are estimated with accuracy on order of 1mm. |
| title | Fit-NGP: Fitting Object Models to Neural Graphics Primitives |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2401.02357 |