PVNet + ICP

Methods Overview

We first use an object detector, Centernet, to detect objects in the image. Given the detected object bounding box, we crop the image and use PVNet to detect 2D object keypoints, which is used to compute 6D pose through the PnP algorithm. Then we use ICP to refine the estimated pose.

We train one network per object for both CenterNet and PVNet only using the PBR synthetic data provided by bop challenge 2020 .

Differences between evaluated method and the linked publication

1. We use a 2d detector to help PVNet handle multiple instances.
2. We use offset field instead of vector field.
3. We use only the PBR synthetic data provided by bop challenge 2020 to train our model.
4. We use ICP algorithm to refine the estimated 6D poses.