Focal Length and Object Pose Estimation via Render and Compare

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F22%3A00365335" target="_blank" >RIV/68407700:21730/22:00365335 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/CVPR52688.2022.00380" target="_blank" >https://doi.org/10.1109/CVPR52688.2022.00380</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CVPR52688.2022.00380" target="_blank" >10.1109/CVPR52688.2022.00380</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Focal Length and Object Pose Estimation via Render and Compare

Popis výsledku v původním jazyce

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First, we derive a focal length update rule that extends an existing state-of-the-art render-and-compare 6D pose estimator to address the joint estimation task. Second, we investigate several different loss functions for jointly estimating the object pose and focal length. We find that a combination of direct focal length regression with a reprojection loss disentangling the contribution of translation, rotation, and focal length leads to improved results. We show results on three challenging benchmark datasets that depict known 3D models in uncontrolled settings. We demonstrate that our focal length and 6D pose estimates have lower error than the existing state-of-the-art methods.

Název v anglickém jazyce

Focal Length and Object Pose Estimation via Render and Compare

Popis výsledku anglicky

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First, we derive a focal length update rule that extends an existing state-of-the-art render-and-compare 6D pose estimator to address the joint estimation task. Second, we investigate several different loss functions for jointly estimating the object pose and focal length. We find that a combination of direct focal length regression with a reprojection loss disentangling the contribution of translation, rotation, and focal length leads to improved results. We show results on three challenging benchmark datasets that depict known 3D models in uncontrolled settings. We demonstrate that our focal length and 6D pose estimates have lower error than the existing state-of-the-art methods.

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/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Inteligentní strojové vnímání</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceeding 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

ISBN

978-1-6654-6946-3

ISSN

1063-6919

e-ISSN

2575-7075

Počet stran výsledku

10

Strana od-do

3815-3824

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

New Orleans, Louisiana

Datum konání akce

19. 6. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000867754204008