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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 3
938-942

Full convolution neural network model for 6DoF attitude and size estimation

Liu Zeyanga
Jia Dia,b
a. School of Electronic & Information Engineering, b. School of Electrical Appliances & Control Engineering, Liaoning Technical University, Huludao Liaoning 125100, China
DOI: 10.19734/j.issn.1001-3695.2022.06.0319

Abstract

In order to reduce the cost of manual operation, this paper proposed a fully convolutional neural network model for 6DoF pose and size estimation of targets with small data sets for 6DoF pose and size estimation that required collecting and labeling a large amount of data to train neural networks. Firstly, it combined the attention mechanism with the feature pyramid to extract the region of interest through the region suggestion network, and the region was input into the parallel fusion full convolution network to obtain the mask map. Secondly, it enriched the feature information after each convolution by adding jump connections, which were fused and classified to obtain the predicted normalization coordinate space map. Finally, it obtained the 6DoF pose and size of the target by 3D point cloud registration between the obtained mask image and the normalization coordinate space image. Experiments show that compared with PVN3D method, this method improves the accuracy by about 2.6% and GPVPose method by about 1% in small data sets.

Foundation Support

国家自然科学基金资助项目(61601213)
辽宁省教育厅资助项目(LJ2020FWL004,2019-ZD-0038)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.06.0319
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 3
Section: Technology of Graphic & Image
Pages: 938-942
Serial Number: 1001-3695(2023)03-049-0938-05

Publish History

[2022-09-14] Accepted Paper
[2023-03-05] Printed Article

Cite This Article

刘泽洋, 贾迪. 面向目标6DoF姿态与尺寸估计的全卷积神经网络模型 [J]. 计算机应用研究, 2023, 40 (3): 938-942. (Liu Zeyang, Jia Di. Full convolution neural network model for 6DoF attitude and size estimation [J]. Application Research of Computers, 2023, 40 (3): 938-942. )

About the Journal

  • 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.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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