Efficient pose estimation from single RGB-D image via Hough forest with auto-context

• Main Authors: Dong, Huixu, Prasad, Dilip Kumar, Yuan, Qilong, Zhou, Jiadong, Asadi, Ehsan, Chen, I-Ming
• Other Authors: School of Computer Science and Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering; Training; Forestry
• Online Access: https://hdl.handle.net/10356/143044
• Institution: Nanyang Technological University

We propose a high efficient learning approach to estimating 6D (Degree of Freedom) pose of the textured or texture-less objects for grasping purposes in a cluttered environment where the objects might be partially occluded. The method comprises three main steps. Given a single RGB-D image, we first...