Real-Time 6-DoF Object Pose Estimation Network Based on 2D-3D Coordinate Correspondence

Object 6D pose estimation is essential for a variety of applications, including autonomous driving, robotic manipulation, and automated harvesting. Due to the influence of different lighting conditions and occlusions, objects with different poses may exhibit significant variations in appearance in different views. This makes the estimation of the 6D pose of objects from a single RGB image a challenging task. This paper proposes a deep learning network capable of simultaneously detecting and estimating the 6D pose (3D rotation + 3D translation) of target objects. As establishing a large-scale dataset using real data is extremely challenging, this paper introduces an automatic collection scheme based on virtual data generated from real images. We conducted experiments on the generated astronaut dataset using our data collection scheme for 6D pose estimation. The experimental results show that the accuracy of 6D pose estimation based on the ADD metric is 96%. Therefore, this method has significant potential and can be extended to other downstream tasks.