COBRA -- COnfidence score Based on shape Regression Analysis for method-independent quality assessment of object pose estimation from single images

arXiv:2404.16471v1 Announce Type: new
Abstract: We present a generic algorithm for scoring pose estimation methods that rely on single image semantic analysis. The algorithm employs a lightweight putative shape representation using a combination of multiple Gaussian Processes. Each Gaussian Process (GP) yields distance normal distributions from multiple reference points in the object's coordinate system to its surface, thus providing a geometric evaluation framework for scoring predicted poses. Our confidence measure comprises the average mixture probability of pixel back-projections onto the …

abstract algorithm analysis arxiv assessment combination confidence cs.cv gaussian processes image images independent multiple object process processes quality regression representation scoring semantic the algorithm type