6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization
Jun Yang,Wenjie Xue,Sahar Ghavidel,Steven L. Waslander,Jun Yang,Wenjie Xue,Sahar Ghavidel,Steven L. Waslander
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core idea of our approach is to decouple 6D pose estimation into a sequential two-step process, first estimating the 3D translation and then the 3D rotation of each obj...
