PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose EstimationDownload PDF

16 Jun 2022, 10:45 (modified: 15 Nov 2022, 09:31)CoRL 2022 PosterReaders: Everyone
Student First Author: yes
Keywords: 6D Pose Estimation, Transformer, Object-Relative Localization
TL;DR: Novel transformer-based network for RGB-only, 6 degree of freedom multi-object pose estimation while not relying on depth maps or 3D object models
Abstract: Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when additional information, such as depth and 3D models, is not provided. We present a transformer-based approach that takes an RGB image as input and predicts a 6D pose for each object in the image. Besides the image, our network does not require any additional information such as depth maps or 3D object models. First, the image is passed through an object detector to generate feature maps and to detect objects. Then, the feature maps are fed into a transformer with the detected bounding boxes as additional information. Afterwards, the output object queries are processed by a separate translation and rotation head. We achieve state-of-the-art results for RGB-only approaches on the challenging YCB-V dataset. We illustrate the suitability of the resulting model as pose sensor for a 6-DoF state estimation task. Code is available at https://github.com/aau-cns/poet .
Supplementary Material: zip
Code: https://github.com/aau-cns/poet
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