Detect occluded object in image and get orientation without train using CAD model with template-pose
Detect occluded object in image and get orientation without train using CAD model with template-pose
Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions
arXiv paper abstract https://arxiv.org/abs/2203.17234v1
arXiv PDF paper https://arxiv.org/pdf/2203.17234v1.pdf
... present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions.
... requires neither a training ... on these objects nor real images depicting them, only their CAD models.
It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects.
In contrast with the state-of-the-art methods, the new objects on which ... method is applied can be very different from the training objects.
... first to show generalization without retraining on the LINEMOD and Occlusion-LINEMOD datasets.
... outperform the state-of-the-art template matching methods on the LINEMOD, Occlusion-LINEMOD and T-LESS datasets. ...
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