SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only... Our approach competes or surpasses current state-of-the-art methods that leverage RGB-D data on multiple challenging datasets. Furthermore, our method produces these results at around 10Hz, which is many times faster than the related methods. For the sake of reproducibility, we make our trained networks and detection code publicly available. read more

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Datasets


Task Dataset Model Metric Name Metric Value Global Rank Result Benchmark
6D Pose Estimation using RGBD LineMOD SSD-6D Mean ADD 90.9 # 4
Mean IoU 96.5 # 1
6D Pose Estimation using RGB LineMOD SSD-6D Mean ADD 76.3 # 10
Mean IoU 99.4 # 2
6D Pose Estimation using RGB OCCLUSION SSD-6D MAP 0.38 # 2
6D Pose Estimation using RGBD Tejani SSD-6D IoU-2D 0.988 # 1
IoU-3D 0.963 # 1
VSS-2D 0.724 # 1
VSS-3D 0.854 # 1

Methods