基于3D关键点的双目视觉物体6D位姿估计

宁锴旭,陆晴,杨恒,王韶涵

6D pose estimation of binocular vision object based on 3D key point

Kaixu NING,Qing LU,Heng YANG,Shaohan WANG

表 3 位姿估计精度的对比结果

Tab.3 Comparison result of accuracy of pose estimation

方法 瓶子 马克杯 杯子 鼠标 3 cm 3° 5 cm 5° 3 cm 3° 5 cm 5° 3 cm 3° 5 cm 5° 3 cm 3° 5 cm 5° HLoc 0.703 0.813 0.793 0.831 0.739 0.837 0.729 0.832 OnePose 0.733 0.836 0.806 0.828 0.729 0.832 0.711 0.819 Gen6D$ ^\dagger $ 0.572 0.613 0.575 0.608 0.468 0.515 0.508 0.613 Gen6D 0.591 0.633 0.598 0.631 0.502 0.583 0.566 0.631 StereoNet 0.773 0.865 0.813 0.844 0.791 0.854 0.787 0.845