Web: http://arxiv.org/abs/2208.02129

Sept. 20, 2022, 1:13 a.m. | Dingding Cai, Janne Heikkilä, Esa Rahtu

cs.CV updates on arXiv.org arxiv.org

This paper presents an efficient symmetry-agnostic and correspondence-free
framework, referred to as SC6D, for 6D object pose estimation from a single
monocular RGB image. SC6D requires neither the 3D CAD model of the object nor
any prior knowledge of the symmetries. The pose estimation is decomposed into
three sub-tasks: a) object 3D rotation representation learning and matching; b)
estimation of the 2D location of the object center; and c) scale-invariant
distance estimation (the translation along the z-axis) via classification. SC6D …

arxiv free symmetry

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