Web: http://arxiv.org/abs/2209.08266

Sept. 20, 2022, 1:12 a.m. | Chenyi Liu, Fei Chen, Lu Deng, Renjiao Yi, Lintao Zheng, Chenyang Zhu, Jia Wang, Kai Xu

cs.CV updates on arXiv.org arxiv.org

The point pair feature (PPF) is widely used for 6D pose estimation. In this
paper, we propose an efficient 6D pose estimation method based on the PPF
framework. We introduce a well-targeted down-sampling strategy that focuses
more on edge area for efficient feature extraction of complex geometry. A pose
hypothesis validation approach is proposed to resolve the symmetric ambiguity
by calculating edge matching degree. We perform evaluations on two challenging
datasets and one real-world collected dataset, demonstrating the superiority of …

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