Cross-Attention-Based Reflection-Aware 6D Pose Estimation Network for Non-Lambertian Objects from RGB Images

Abstract

Six-dimensional pose estimation for non-Lambertian objects, such as metal parts, is essential in intelligent manufacturing. Current methods pay much less attention to the influence of the surface reflection problem in 6D pose estimation. In this paper, we propose a cross-attention-based reflection-aware 6D pose estimation network (CAR6D) for solving the surface reflection problem in 6D pose estimation. We use a pseudo-Siamese network structure to extract features from both an RGB image and a 3D model. The cross-attention layers are designed as a bi-directional filter for each of the inputs (the RGB image and 3D model) to focus on calculating the correspondences of the objects. The network is trained to segment the reflection area from the object area. Training images with ground-truth labels of the reflection area are generated with a physical-based rendering method. The experimental results on a 6D dataset of metal parts demonstrate the superiority of CAR6D in comparison with other state-of-the-art models.

Keywords

• 6D pose estimation
• non-Lambertian objects
• physical-based rendering
• dense matching
• PnP