I Like to Move It: 6D Pose Estimation as an Action Decision Process

Abstract

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the problem as an action decision process where an initial pose is updated in incremental discrete steps that sequentially move a virtual 3D rendering towards the correct solution. A neural network estimates likely moves from a single RGB image iteratively and determines so an acceptable final pose. In comparison to other approaches that train object-specific pose models, we learn a decision process. This allows for a lightweight architecture while it naturally generalizes to unseen objects. A coherent stop action for process termination enables dynamic reduction of the computation cost if there are insignificant changes in a video sequence. Instead of a static inference time, we thereby automatically increase the runtime depending on the object motion. Robustness and accuracy of our action decision network are evaluated on Laval and YCB video scenes where we significantly improve the state-of-the-art.