|Submission time (UTC)
|Sept. 27, 2023, 7:24 a.m.
|6D localization of unseen objects
|Submission prepared by Elliot Maître, Médéric Fourmy Yann Labbé
|Labbé et al.: MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare, CoRL 2022
|Training image modalities
|Test image modalities
This submission was prepared by Elliot Maître, Mederic Fourmy, Lucas Manuelli, Yann Labbé
In this submission, CNOS_fastSAM [A] detections are used as input to the MegaPose pose estimation method [B]. The code used for this submission is open-source1.
For each detection, we run the MegaPose coarse network with 5 hypotheses. Each of the top-5 hypotheses are refined using the refinement strategy described below. The refined hypotheses are then scored using the coarse network, and the best one is considered the pose estimate for the initial detection.
The refinement strategy is as follows for one hypothesis. We first run 5 iteration of the RGB refinement network. We then render a depth map of the hypothesis and establish 3D-3D correspondences between points of the objects in the rendered depth and in the depth map using pixel-wise alignment. Finally, we run Teaser++ [C] to align the point clouds.
The following improvements have been made over the original MegaPose paper [B]:
[A] Nguyen et al.: CNOS: A Strong Baseline for CAD-based Novel Object Segmentation, arXiv 2023
This work was granted access to the HPC resources of IDRIS under the allocation 011014301 made by GENCI
|NVIDIA Tesla V100 32Go