Method: SurfEmb-PBR-RGBD

User surfemb
Publication Rasmus Laurvig Haugaard, Anders Glent Buch: SurfEmb, CVPR 2022
Training image modalities RGB
Test image modalities RGB-D

SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddings

Project site

Compared to the paper:

  • All models are trained for 500k iterations
  • 10k pose samples instead of 20k, and maximum 1k pose evaluations after pruning.

We use the available detections from CosyPose, but were not able to find detection-only timings. We add our timing on top of the full CosyPose single-view RGB pipeline, resulting in conservative timings.

Computer specifications 1 x RTX 2080

Public submissions

Date Submission name Dataset
2021-12-22 17:46 - LM-O
2021-12-22 18:04 - IC-BIN
2021-12-22 18:09 - ITODD
2021-12-22 18:12 - HB
2021-12-22 18:13 - T-LESS
2021-12-22 18:15 - TUD-L
2021-12-22 18:22 - YCB-V