2022 41st Chinese Control Conference (CCC) 2022
DOI: 10.23919/ccc55666.2022.9902319
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Dense Color Constraints based 6D object pose estimation from RGB-D images

Abstract: As robotics and augmented reality applications increasingly rely on precise and efficient 6D object pose estimation, real-time performance on edge devices is required for more interactive and responsive systems. Our proposed Sparse Color-Code Net (SCCN) embodies a clear and concise pipeline design to effectively address this requirement. SCCN performs pixellevel predictions on the target object in the RGB image, utilizing the sparsity of essential object geometry features to speed up the Perspective-n-Point (P… Show more

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