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6DOF pose estimation - synthetically generated dataset using BlenderProc

Sheth, Divyam1

Published Nov 26, 2023 on Dryad. https://doi.org/10.5061/dryad.rbnzs7hj5

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Abstract

Accurate and robust 6DOF (Six Degrees of Freedom) pose estimation is a critical task in various fields, including computer vision, robotics, and augmented reality. This research paper presents a novel approach to enhance the accuracy and reliability of 6DOF pose estimation by introducing a robust method for generating synthetic data and leveraging the ease of multi-class training using the generated dataset. The proposed method tackles the challenge of insufficient real-world annotated data by creating a large and diverse synthetic dataset that accurately mimics real-world scenarios. The proposed method only requires a CAD model of the object and there is no limit to the number of unique data that can be generated. Furthermore, a multi-class training strategy that harnesses the synthetic dataset's diversity is proposed and presented. This approach mitigates class imbalance issues and significantly boosts accuracy across varied object classes and poses. Experimental results underscore the method's effectiveness in challenging conditions, highlighting its potential for advancing 6DOF pose estimation across diverse applications. Our approach only uses a single RGB frame and is real-time.