On Evaluation of 6D Object Pose Estimation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00304205" target="_blank" >RIV/68407700:21230/16:00304205 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/~hodanto2/data/hodan2016evaluation.pdf" target="_blank" >http://cmp.felk.cvut.cz/~hodanto2/data/hodan2016evaluation.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-49409-8_52" target="_blank" >10.1007/978-3-319-49409-8_52</a>

Result language
angličtina
Original language name
On Evaluation of 6D Object Pose Estimation
Original language description
A pose of a rigid object has 6 degrees of freedom and its full knowledge is required in many robotic and scene understanding applications. Evaluation of 6D object pose estimates is not straightforward. Object pose may be ambiguous due to object symmetries and occlusions, i.e. there can be multiple object poses that are indistinguishable in the given image and should be therefore treated as equivalent. The paper defines 6D object pose estimation problems, proposes an evaluation methodology and introduces three new pose error functions that deal with pose ambiguity. The new error functions are compared with functions commonly used in the literature and shown to remove certain types of non-intuitive outcomes. Evaluation tools are provided at: https://github.com/thodan/obj_pose_eval
Czech name
—
Czech description
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Project
<a href="/en/project/TE01020415" target="_blank" >TE01020415: V3C - Visual Computing Competence Center</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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