Author
Doruk, Abdullah Enes, Ozkaya, T. E., Gülez, F., Uslu, F.
Publication Date
2023
Publication Place
-
IEEE
Subject
6D pose estimation, Deep networks, Domain randomization, Synthetic data
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
979-835033752-5
Record ID
9da85496-74e5-47ad-b8e3-85d18e6e7492
Date
2023
Notes
TÜBİTAK
Sample Text
6D pose estimation of industrial objects on RGB images has a high potential to accelerate the automation of robotic manipulations in the automotive manufacturing industry. Despite its high potential, this problem has not been adequately addressed in the computer vision community. Main factors leading to under investigation of this problem are industrial objects to be textureless, thin, and symmetrical, which hinder the automatic estimation of their poses from color images. Deep learning models have shown promising results for pose estimation of household objects thanks to availability of large datasets with labels. In contrast to many household objects, there are few datasets for industrial objects with limited representation capacity, which restricts the use of deep models in pose estimation of industrial objects. In this study, we examine the eligibility of deep models on 6D pose estimation of industrial objects used in the automotive manufacturing industry. For this aim, we compare the performance of three deep models, DeepIM, CosyPose, and EPOS. To meet the need for large training dataset of these models, we produce a large synthetic dataset from the CAD data of the industrial objects. We also collect a small real dataset for training and performance evaluation purposes. We find that CosyPose outperforms other methods with a large margin, by showing its potential to solve such a hard problem. We also observe that training models with both synthetic and real images yield the best results.
DOI
10.1109/HORA58378.2023.10156677
