6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation

arXiv:2401.00029v3 Announce Type: replace
Abstract: Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating high-quality images from random noise with high indeterminacy through step-by-step denoising. Inspired by their denoising capability, we propose a novel diffusion-based framework (6D-Diff) to handle the noise and indeterminacy in object pose estimation for better performance. In our framework, to establish accurate …

abstract arxiv challenges cs.cv denoising diff diffusion diffusion models framework image images noise object performance quality random step-by-step through type