Abstract:Six-dimensional pose estimation for non-Lambertian objects, such as metal parts, is essential in intelligent manufacturing. Current methods pay much less attention to the influence of the surface reflection problem in 6D pose estimation. In this paper, we propose a cross-attention-based reflection-aware 6D pose estimation network (CAR6D) for solving the surface reflection problem in 6D pose estimation. We use a pseudo-Siamese network structure to extract features from both an RGB image and a 3D model. The cros… Show more
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