mlsanityData to 14 Oct 2026

Sparse Color-Code Net: Real-Time RGB-Based 6D Object Pose Estimation on Edge Devices

arXiv 2406.02977 ↗First posted 5 Jun 2024cs.CV cs.ROcited by 0

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Abstract (arXiv)

As robotics and augmented reality applications increasingly rely on precise and efficient 6D object pose estimation, real-time performance on edge devices is required for more interactive and responsive systems. Our proposed Sparse Color-Code Net (SCCN) embodies a clear and concise pipeline design to effectively address this requirement. SCCN performs pixel-level predictions on the target object in the RGB image, utilizing the sparsity of essential object geometry features to speed up the Perspective-n-Point (PnP) computation process. Additionally, it introduces a novel pixel-level geometry-based object symmetry representation that seamlessly integrates with the initial pose predictions, effectively addressing symmetric object ambiguities. SCCN notably achieves an estimation rate of 19 frames per second (FPS) and 6 FPS on the benchmark LINEMOD dataset and the Occlusion LINEMOD dataset, respectively, for an NVIDIA Jetson AGX Xavier, while consistently maintaining high estimation accuracy at these rates.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 28 of its 41 references that are in the map. First posted on arXiv 5 Jun 2024.

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28 of 41 references.

References · 28

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  2. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  3. 2017Neural 3D Mesh Renderercited by 437
  4. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  5. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  6. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  7. 2017Tversky loss function for image segmentation using 3D fully convolutional deep networkscited by 228
  8. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  9. 2017Real-Time Seamless Single Shot 6D Object Pose Predictioncited by 210
  10. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  11. 2021GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimatorcited by 148
  12. 2020HybridPose: 6D Object Pose Estimation under Hybrid Representationscited by 107
16 more
  1. 2018Segmentation-driven 6D Object Pose Estimationcited by 104
  2. 2020Weakly-Supervised Salient Object Detection via Scribble Annotationscited by 96
  3. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  4. 2020Self6D: Self-Supervised Monocular 6D Object Pose Estimationcited by 79
  5. 2018Deep Model-Based 6D Pose Refinement in RGBcited by 59
  6. 2022What to look at and where: Semantic and Spatial Refined Transformer for detecting human-object interactionscited by 35
  7. 2015Learning Analysis-by-Synthesis for 6D Pose Estimation in RGB-D Imagescited by 29
  8. 2017Going Further with Point Pair Featurescited by 28
  9. 2016Global Hypothesis Generation for 6D Object Pose Estimationcited by 17
  10. 2022YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regressioncited by 17
  11. 2022Bootstrap Generalization Ability from Loss Landscape Perspectivecited by 16
  12. 2022CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement Transformerscited by 15
  13. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10
  14. 2020Visual Object Recognition in Indoor Environments Using Topologically Persistent Featurescited by 5
  15. 2023Persistent Homology Meets Object Unity: Object Recognition in Cluttercited by 5
  16. 2022Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mappingcited by 1

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