Survey on 6D Pose Estimation of Rigid Object

Abstract

Estimating 6D pose of rigid objects has gained increasing attention as it has become an curcial problem in rapidly growing technology related to robotics, augmented reality and autonomous driving. Therefore, the research on 6D pose estimation technology is of great significance. In this paper, firstly, current position of the field is summarized regarding object pose estimation. We found that deep learning combined with traditional methods can produce better results. Then, pose ambiguity which is an open problem needed further study is raised. Finally, the main problems of the current research and possible development directions are identified.