Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 12
3808-3814

6D pose estimation algorithm for local feature representation

Wang Chenlu1
Chen Lijia1
Li Shen2
Fan Xianbojun1
Wang Min1
Lian Chenxuan1
Wang Zan1
Liu Mingguo1
1. School of Physics & Electronics, Henan University, Kaifeng Henan 475000, China
2. Kaifeng Pingmei New Carbon Material Technology Co. , Ltd. , Kaifeng Henan 475000, China
DOI: 10.19734/j.issn.1001-3695.2022.04.0163

Abstract

In order to solve the problem of low accuracy of 6D pose estimation for textured models under occlusion, this paper proposed an end-to-end 6D pose estimation algorithm based on local feature representation. Firstly, this paper proposed a spatial and coordinate attention mechanism to obtain accurate localization information. A YOLOv5-CBE detection network formed by adding the attention mechanism to the backbone network and introducing a weighted bidirectional feature pyramid Network in the detection layer. The precision, recall and mAP@0.5 of YOLOV5-CBE algorithm rise by 3.6%, 2.8% and 2.5% respectively, and the coordinate error of local feature center point decreases by 25% at most. Secondly, the YOLOv5-CBE network detected the local feature key points and calculated 6D pose of the model with 3D Harris key points by singular value decomposition, and the algorithm can guarantee 2D reprojection accuracy and ADD accuracy above 95% with 70% occlusion, which has a strong robustness.

Foundation Support

国家自然科学基金资助项目(61901158)
河南省科技厅重点研发与推广专项资助项目(202102210121)
河南省科技发展计划资助项目(科技攻关)(212102210500)
开封市重大专项资助项目(20ZD014)
开封市科技项目(2001016)
开封平煤新型炭材料科技有限公司(2021410202000003)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0163
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 12
Section: Technology of Graphic & Image
Pages: 3808-3814
Serial Number: 1001-3695(2022)12-046-3808-07

Publish History

[2022-06-22] Accepted Paper
[2022-12-05] Printed Article

Cite This Article

王晨露, 陈立家, 李珅, 等. 局部特征表征的6D位姿估计算法 [J]. 计算机应用研究, 2022, 39 (12): 3808-3814. (Wang Chenlu, Chen Lijia, Li Shen, et al. 6D pose estimation algorithm for local feature representation [J]. Application Research of Computers, 2022, 39 (12): 3808-3814. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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