Automated Driving

SSD‑6D: Making RGB‑Based 3D Detection and 6D Pose Estimation Great Again

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TRI Author: Wadim Kehl

All Authors: Wadim Kehl, Fabian Manhardt, Federico Tombari, Slobodan Ilic, Nassir Navab

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

Citation: Kehl, Wadim, Fabian Manhardt, Federico Tombari, Slobodan Ilic, and Nassir Navab. "Ssd-6d: Making rgb-based 3d detection and 6d pose estimation great again." In Proceedings of the IEEE International Conference on Computer Vision, pp. 1521-1529. 2017.