Chenyi Liu, Fei Chen, Lu Deng, Renjiao Yi, Lintao Zheng, Chenyang Zhu, Jia Wang, Kai Xu
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引用次数: 0
Abstract
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 on edge areas for efficient feature extraction for complex geometry. A pose hypothesis validation approach is proposed to resolve ambiguity due to symmetry by calculating the edge matching degree. We perform evaluations on two challenging datasets and one real-world collected dataset, demonstrating the superiority of our method for pose estimation for geometrically complex, occluded, symmetrical objects. We further validate our method by applying it to simulated punctures.
期刊介绍:
Computational Visual Media is a peer-reviewed open access journal. It publishes original high-quality research papers and significant review articles on novel ideas, methods, and systems relevant to visual media.
Computational Visual Media publishes articles that focus on, but are not limited to, the following areas:
• Editing and composition of visual media
• Geometric computing for images and video
• Geometry modeling and processing
• Machine learning for visual media
• Physically based animation
• Realistic rendering
• Recognition and understanding of visual media
• Visual computing for robotics
• Visualization and visual analytics
Other interdisciplinary research into visual media that combines aspects of computer graphics, computer vision, image and video processing, geometric computing, and machine learning is also within the journal''s scope.
This is an open access journal, published quarterly by Tsinghua University Press and Springer. The open access fees (article-processing charges) are fully sponsored by Tsinghua University, China. Authors can publish in the journal without any additional charges.