6DOF Pose Estimation of a 3D Rigid Object based on Edge-enhanced Point Pair Features

17 Sep 2022  ·  Chenyi Liu, Fei Chen, Lu Deng, Renjiao Yi, Lintao Zheng, Chenyang Zhu, Jia Wang, Kai Xu ·

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge area for efficient feature extraction of complex geometry. A pose hypothesis validation approach is proposed to resolve the symmetric ambiguity by calculating edge matching degree. We perform evaluations on two challenging datasets and one real-world collected dataset, demonstrating the superiority of our method on pose estimation of geometrically complex, occluded, symmetrical objects. We further validate our method by applying it to simulated punctures.

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