Multi-view 6D Object Pose Estimation and Camera Motion Planning Using RGBD Images

Recovering object pose in a crowd is a challenging task due to severe occlusions and clutters. In active scenario, whenever an observer fails to recover the poses of objects from the current view point, the observer is able to determine the next view position and captures a new scene from another view point to improve the knowledge of the environment, which may reduce the 6D pose estimation uncertainty. We propose a complete active multi-view framework to recognize 6DOF pose of multiple object instances in a crowded scene. We include several components in active vision setting to increase the accuracy: Hypothesis accumulation and verification combines single-shot based hypotheses estimated from previous views and extract the most likely set of hypotheses; an entropy-based Next-Best-View prediction generates next camera position to capture new data to increase the performance; camera motion planning plans the trajectory of the camera based on the view entropy and the cost of movement. Different approaches for each component are implemented and evaluated to show the increase in performance.