Visibility-Aware Keypoint Localization for 6DoF Object Pose Estimation

arXiv:2403.14559v1 Announce Type: new
Abstract: Localizing predefined 3D keypoints in a 2D image is an effective way to establish 3D-2D correspondences for 6DoF object pose estimation. However, unreliable localization results of invisible keypoints degrade the quality of correspondences. In this paper, we address this issue by localizing the important keypoints in terms of visibility. Since keypoint visibility information is currently missing in dataset collection process, we propose an efficient way to generate binary visibility labels from available object-level annotations, for …

2d image abstract arxiv cs.cv however image issue localization object paper quality results terms type visibility