Get object pose from one input image and a reference using 3D hypothesis verification with Zhao
Get object pose from one input image and a reference using 3D hypothesis verification with Zhao
3D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimation
arXiv paper abstract https://arxiv.org/abs/2310.03534
arXiv PDF paper https://browse.arxiv.org/pdf/2310.03534.pdf
Prior methods ... of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast ... address ... where only a single reference view of the object is available.
... goal then is to estimate the relative object pose between this reference view and a query image that depicts the object in a different pose.
In this scenario, robust generalization is imperative due to the presence of unseen objects during testing and the large-scale object pose variation between the reference and the query.
... present a new hypothesis-and-verification framework, in which ... generate and evaluate multiple pose hypotheses, ultimately selecting the most reliable one as the relative object pose.
To measure reliability, ... introduce a 3D-aware verification that explicitly applies 3D transformations to the 3D object representations learned from the two input images.
... superior accuracy of ... approach in relative pose estimation and its robustness in large-scale pose variations, when dealing with unseen objects.
Please like and share this post if you enjoyed it using the buttons at the bottom!
Stay up to date. Subscribe to my posts https://morrislee1234.wixsite.com/website/contact
Web site with my other posts by category https://morrislee1234.wixsite.com/website
Comments