6D Pose Estimation

For quick download, please download the code from here G2L_light. For the trained model and useage please refer to the following instructions.

If you also interesting in how to do category-level pose estimation please refer to our new work FS-Net.

Experiment setup

OS: Ubuntu 16.04

GPU: 1080 Ti

Programme language: Python 3.6

Framework

Our framework is built on Frustum-Pointnet, but we reimplemented the code to pytorch (we borrom some code from this git) with some improvements (contributions):

1. First, instead of locating the object point cloud by a frustum, we locate the object point cloud by a 3D sphere, which can limit the 3D search range in a more compact space.
2. Second, instead of directly regressing the global point feature to estimate the pose, we propose the point-wise embedding vector features to effectively capture the viewpoint information.
3. Third, we estimate the rotation residual between predicted rotation and the ground truth. The rotation residual estimator further boosts the pose estimation accuracy.

More details can be found in our paper. Our AD_VIDEO for CVPR 2020 Virtual Presentation is availabel at youtube.

If you find our code or paper is useful, please cite our paper:

@InProceedings{Chen_2020_CVPR,
author = {Chen, Wei and Jia, Xi and Chang, Hyung Jin and Duan, Jinming and Leonardis, Ales},
title = {G2L-Net: Global to Local Network for Real-Time 6D Pose Estimation With Embedding Vector Features},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2020}
}

Pre requirements

Install the libraries by:

python install -r requirements.txt

The trained models can be download from here.

Demo & Testing

The command for demo:

cd demo/

python test_linemod

Please note, we only provide 20 images for quick test, if you need to test the whole sequence, you can download the LINEMOD dataset here.

Training

Due to some minor changes to the code, the parameters are slightly different from the paper.

YOLOv3

For implementation & training YOLOv3 please refer to this git.

G2L_Net

training data

We provide the point cloud (and point wise label) which transfered from depth image of object 'cat' in LINEMOD. Please download the training data from here. After downloading the data, please unzip the data to "train_data" folder. Please note, in the data the point cloud has six dimension:[x, y, z, r, g, b], we only use the first three dimension:[x, y, z]. For the corresponding label, it has 13 dimension, we only use the first dimension. The last 12 values are useless now.

If you want to generate your own training data, you can use the code provide in FS-Net.

training command

cd train/

python train_G2L.py