6D Pose Estimation of Objects: Recent Technologies and Challenges

Applied Sciences

Wuxi Feng¹  Zaixing He¹  Xinyue Zhao¹  Yongfeng Lv² 

[1] School of Mechanical Engineering, the State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou 310053, China;

关键词: 6D pose estimation;    learning-based approach;    2D-information-based approach;    3D-information-based approach;    textureless and reflective objects;    foreground occlusion;   

DOI  :  10.3390/app11010228

来源: DOAJ

【 摘 要 】

6D pose estimation is a common and important task in industry. Obtaining the 6D pose of objects is the basis for many other functions such as bin picking, autopilot, etc. Therefore, many corresponding studies have been made in order to improve the accuracy and enlarge the range of application of various approaches. After several years of development, the methods of 6D pose estimation have been enriched and improved. Although some predecessors have analyzed the methods and summarized them in detailed, there have been many new breakthroughs in recent years. To understand 6D pose estimation better, this paper will make a new and more detailed review of 6D pose estimation. We divided these methods into two approaches: Learning-based approaches and non-learning-based approaches, including 2D-information-based approach and 3D-information-based approach. Additionally, we introduce the challenges that exist in 6D pose estimation. Finally, we compare the performance of different methods qualitatively and discuss the future development trends of the 6D pose estimation.

【 授权许可】

Unknown