Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration

Abstract

Existing object pose estimation methods cannot provide estimated poses with inter-frame stability.As a result,when the results are directly used in visualization scenarios such as augmented reality,it will cause screen jitter,so it's not suitable enough for application scenarios such as human-machine collaboration.This paper proposes an object pose estimation optimization method that includes multiple methods.By improving the loss function of the original pose estimation method and using causal filtering to optimize the pose estimation result,a stable estimated pose can be obtained.In addition,in order to consummate the eva-luation system of the degree of stability of the pose estimation method,this paper proposes three evaluation indicators:the direct deviation distance DBD,the direction reversal rate DRR and the average displacement angle ADA,which can evaluate the object pose estimation method from multiple viewpoints.Finally,the YCB-STB dataset is used to test,and the method is compared with the original method without optimization.The results show that the proposed method can improve the inter-frame stability of the existing object pose estimation methods without introducing additional resources,and has a small impact on the accuracy of the original method,which satisfies the requirement of object attitude estimation in human-machine collaborative scene.

Keywords

• object pose estimate|human-machine collaboration|loss function|causal filtering