BOP Challenge 2020 on 6D Object Localization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342591" target="_blank" >RIV/68407700:21230/20:00342591 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/978-3-030-66096-3_39" target="_blank" >https://doi.org/10.1007/978-3-030-66096-3_39</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-66096-3_39" target="_blank" >10.1007/978-3-030-66096-3_39</a>

Jazyk výsledku

angličtina

Název v původním jazyce

BOP Challenge 2020 on 6D Object Localization

Popis výsledku v původním jazyce

This paper presents the evaluation methodology, datasets, and results of the BOP Challenge 2020, the third in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from an RGB-D image. In 2020, to reduce the domain gap between synthetic training and real test RGB images, the participants were provided 350K photorealistic trainining images generated by BlenderProc4BOP, a new open-source and light-weight physically-based renderer (PBR) and procedural data generator. Methods based on deep neural networks have finally caught up with methods based on point pair features, which were dominating previous editions of the challenge. Although the top-performing methods rely on RGB-D image channels, strong results were achieved when only RGB channels were used at both training and test time -- out of 26 evaluated methods, the third method was trained on RGB channels of PBR and real images, while the fifth was trained on PBR images only. Strong data augmentation was identified as a key component of the top-performing CosyPose method, and the photorealism of PBR images was demonstrated effective despite the augmentation. The online evaluation system stays open and is available at the project website: bop.felk.cvut.cz.

Název v anglickém jazyce

BOP Challenge 2020 on 6D Object Localization

Popis výsledku anglicky

This paper presents the evaluation methodology, datasets, and results of the BOP Challenge 2020, the third in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from an RGB-D image. In 2020, to reduce the domain gap between synthetic training and real test RGB images, the participants were provided 350K photorealistic trainining images generated by BlenderProc4BOP, a new open-source and light-weight physically-based renderer (PBR) and procedural data generator. Methods based on deep neural networks have finally caught up with methods based on point pair features, which were dominating previous editions of the challenge. Although the top-performing methods rely on RGB-D image channels, strong results were achieved when only RGB channels were used at both training and test time -- out of 26 evaluated methods, the third method was trained on RGB channels of PBR and real images, while the fifth was trained on PBR images only. Strong data augmentation was identified as a key component of the top-performing CosyPose method, and the photorealism of PBR images was demonstrated effective despite the augmentation. The online evaluation system stays open and is available at the project website: bop.felk.cvut.cz.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Computer Vision – ECCV 2020 Workshops, Part II

ISBN

978-3-030-66095-6

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

18

Strana od-do

577-594

Název nakladatele

Springer

Místo vydání

Basel

Místo konání akce

Glasgow

Datum konání akce

23. 8. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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