Comparing RGBD-based 6D Pose Estimation
Darmstadt, TU, Bachelor Thesis, 2021
In this work the suitability of the pose estimation method "PVN3D", by He et al., is evaluated for industrial applications. It first gives an overview over the research eld of 6D pose estimation. Starting by explaining the basics of the eld this work goes over point pair features, machine learning and evaluation metrics as a background knowledge for the 6D pose estimation methods of He et al. and Vidal et al.[2, 23] and the 6D pose estimation benchmark "BOP" introduced by Hodan et al. [6, 16]. The main contribution of this thesis is the evaluation of PVN3D on the BOP framework, so it can be compared to a multitude of other pose estimators, e.g. the methods benchmarked in the BOP 2020 challenge. Here we focus on the T-LESS dataset, as provided by BOP, it provides images of objects typical of industrial applications. We found that PVN3D performs worst on T-LESS compared to the BOP-results from 2020. Specially it performs worse than the PPF based method by Vidal et al.[2, 23], itself ranking 6th in 2020. However, it has to be noted, that our experiments were not fully conclusive, as there are strong indications that there is an unknown bug in the training of PVN3D.
calibDB: Enabling Web Based Computer Vision Through On-the-fly Camera Calibration
Proceedings Web3D 2019
International Conference on 3D Web Technology (WEB3D) <24, 2019, Los Angeles, CA, USA>
For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like ARCore and ARKit, for most cameras this information is not available. Therefore, we propose a web based calibration service that not only aggregates calibration data, but also allows calibrating new cameras on-the-fly. We build upon a novel camera calibration framework that enables even novice users to perform a precise camera calibration in about 2 minutes. This allows general deployment of computer vision algorithms on the web, which was previously not possible due to lack of calibration data.