Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2412.00835 |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866917852971270144 |
|---|---|
| author | Möller, Christian Funk, Niklas Peters, Jan |
| author_facet | Möller, Christian Funk, Niklas Peters, Jan |
| contents | Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes training a diffusion-based generative model for 6D object pose estimation. During inference, the trained generative model allows for sampling multiple particles, i.e., pose hypotheses. To distill this information into a single pose estimate, we propose two novel and effective pose selection strategies that do not require any additional training or computationally intensive operations. Moreover, while many existing methods for pose estimation primarily focus on the image domain and only incorporate depth information for final pose refinement, our model solely operates on point cloud data. The model thereby leverages recent advancements in point cloud processing and operates upon an SE(3)-equivariant latent space that forms the basis for the particle selection strategies and allows for improved inference times. Our thorough experimental results demonstrate the competitive performance of our approach on the Linemod dataset and showcase the effectiveness of our design choices. Code is available at https://github.com/zitronian/6DPoseDiffusion . |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00835 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models Möller, Christian Funk, Niklas Peters, Jan Computer Vision and Pattern Recognition Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes training a diffusion-based generative model for 6D object pose estimation. During inference, the trained generative model allows for sampling multiple particles, i.e., pose hypotheses. To distill this information into a single pose estimate, we propose two novel and effective pose selection strategies that do not require any additional training or computationally intensive operations. Moreover, while many existing methods for pose estimation primarily focus on the image domain and only incorporate depth information for final pose refinement, our model solely operates on point cloud data. The model thereby leverages recent advancements in point cloud processing and operates upon an SE(3)-equivariant latent space that forms the basis for the particle selection strategies and allows for improved inference times. Our thorough experimental results demonstrate the competitive performance of our approach on the Linemod dataset and showcase the effectiveness of our design choices. Code is available at https://github.com/zitronian/6DPoseDiffusion . |
| title | Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2412.00835 |