Get object pose that is consistent with the input and is unique with C-3PO
Get object pose that is consistent with the input and is unique with C-3PO
Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training
arXiv paper abstract https://arxiv.org/abs/2206.11215
arXiv PDF paper https://arxiv.org/pdf/2206.11215.pdf
... consider a certifiable object pose estimation problem ... given a partial point cloud of an object -- not only estimate the object pose, but also to provide a certificate of correctness for the resulting estimate.
... implementing two certificates: (i) a certificate of observable correctness, that asserts if the model output is consistent with the input data and prior information, (ii) a certificate of non-degeneracy, that asserts whether the input data is sufficient to compute a unique estimate.
... propose C-3PO, a semantic-keypoint-based pose estimation model, augmented with the two certificates, to solve the certifiable pose estimation problem.
C-3PO also includes a keypoint corrector ... that can correct large detection errors (e.g. due to the sim-to-real gap).
... third contribution is a novel self-supervised training approach that uses ... certificate of observable correctness to provide the supervisory signal to C-3PO during training.
... experiments show that (i) standard semantic-keypoint-based methods outperform more recent alternatives, (ii) C-3PO ... significantly outperforms all the baselines, and (iii) C-3PO's certificates are able to discern correct pose estimates.
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