Get orientation of multiple objects in real-time with YOLOPose
Get orientation of multiple objects in real-time with YOLOPose
YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression
arXiv paper abstract https://arxiv.org/abs/2205.02536v1
arXiv PDF paper https://arxiv.org/pdf/2205.02536v1.pdf
6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications.
... with the multi-head self-attention mechanism, Transformers enable simple single-stage end-to-end architectures for learning object detection and 6D object pose estimation jointly.
... propose YOLOPose (short form for You Only Look Once Pose estimation), a Transformer-based multi-object 6D pose estimation method based on keypoint regression.
In contrast to the standard heatmaps for predicting keypoints in an image, ... directly regress the keypoints.
... employ a learnable orientation estimation module to predict the orientation from the keypoints.
... method is suitable for real-time applications and achieves results comparable to state-of-the-art methods.
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