AG-Net: Category-level 6D Pose Estimation Network Based on Attention Mechanism and Global Enhancement

Abstract

How to effectively enhance feature extraction is a challenge faced by current 6D pose estimation methods. To address this issue, we propose a novel 6D pose estimation network based on VI-Net, shortened as AG-Net, which uses ECA block and Global enhancev module to enhance feature extraction: ECA block embeds a channel attention mechanism into the convolutional layers, replacing the fully connected layers with 1×1Conv to capture relationships between different channels and improves the performance of feature extraction. The Global enhancev module further processes the received information and enhances feature extraction by fusing global features, effectively balancing performance and speed, and better estimating the translation and size of objects. We applied the proposed AG-Net to category-level 6D pose estimation tasks and tested it on the REAL275 and CAMER25 datasets using IOU 3D intersection and n◦mcm evaluation metrics. The results showed that AG-Net outperformed current state-of-the-art methods. Our code and models are available at https://github.com/AFESDTTM/AG-Net