YOLOv5-6D: Advancing 6-DoF Instrument Pose Estimation in Variable X-Ray Imaging Geometries

1 code implementation • IEEE Transactions on Image Processing 2024 • Christiaan G.A. Viviers, Lena Filatova, Maurice Termeer, Peter H.N. De With, Fons van der Sommen

We propose a general-purpose approach of data acquisition for 6-DoF pose estimation tasks in X-ray systems, a novel and general purpose YOLOv5-6D pose architecture for accurate and fast object pose estimation and a complete method for surgical screw pose estimation under acquisition geometry consideration from a monocular cone-beam X-ray image.

6D Pose Estimation using RGB Real-Time Object Detection