Dataset Information

6DoF Pose Estimation of Transparent Object from a Single RGB-D Image.

ABSTRACT: 6DoF object pose estimation is a foundation for many important applications, such as robotic grasping, automatic driving, and so on. However, it is very challenging to estimate 6DoF pose of transparent object which is commonly seen in our daily life, because the optical characteristics of transparent material lead to significant depth error which results in false estimation. To solve this problem, a two-stage approach is proposed to estimate 6DoF pose of transparent object from a single RGB-D image. In the first stage, the influence of the depth error is eliminated by transparent segmentation, surface normal recovering, and RANSAC plane estimation. In the second stage, an extended point-cloud representation is presented to accurately and efficiently estimate object pose. As far as we know, it is the first deep learning based approach which focuses on 6DoF pose estimation of transparent objects from a single RGB-D image. Experimental results show that the proposed approach can effectively estimate 6DoF pose of transparent object, and it out-performs the state-of-the-art baselines by a large margin.

SUBMITTER: Xu C

PROVIDER: S-EPMC7729467 | biostudies-literature | 2020 Nov

REPOSITORIES: biostudies-literature

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Publications

6DoF Pose Estimation of Transparent Object from a Single RGB-D Image.

Xu Chi C Chen Jiale J Yao Mengyang M Zhou Jun J Zhang Lijun L Liu Yi Y

Sensors (Basel, Switzerland) 20201127 23

6DoF object pose estimation is a foundation for many important applications, such as robotic grasping, automatic driving, and so on. However, it is very challenging to estimate 6DoF pose of transparent object which is commonly seen in our daily life, because the optical characteristics of transparent material lead to significant depth error which results in false estimation. To solve this problem, a two-stage approach is proposed to estimate 6DoF pose of transparent object from a single RGB-D im ...[more]

PMID: 33261127

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Project description:Yield monitoring is an important parameter to evaluate cotton productivity during cotton harvest. Nondestructive and accurate yield monitoring is of great significance to cotton production. Unmanned aerial vehicle (UAV) remote sensing has fast and repetitive acquisition ability. The visible vegetation indices has the advantages of low cost, small amount of calculation and high resolution. The combination of the UAV and visible vegetation indices has been more and more applied to crop yield monitoring. However, there are some shortcomings in estimating cotton yield based on visible vegetation indices only as the similarity between cotton and mulch film makes it difficult to differentiate them and yields may be saturated based on vegetation index estimates near harvest. Texture feature is another important remote sensing information that can provide geometric information of ground objects and enlarge the spatial information identification based on original image brightness. In this study, RGB images of cotton canopy were acquired by UAV carrying RGB sensors before cotton harvest. The visible vegetation indices and texture features were extracted from RGB images for cotton yield monitoring. Feature parameters were selected in different methods after extracting the information. Linear and nonlinear methods were used to build cotton yield monitoring models based on visible vegetation indices, texture features and their combinations. The results show that (1) vegetation indices and texture features extracted from the ultra-high-resolution RGB images obtained by UAVs were significantly correlated with the cotton yield; (2) The best model was that combined with vegetation indices and texture characteristics RF_ELM model, verification set R 2 was 0.9109, and RMSE was 0.91277 t.ha-1. rRMSE was 29.34%. In conclusion, the research results prove that UAV carrying RGB sensor has a certain potential in cotton yield monitoring, which can provide theoretical basis and technical support for field cotton production evaluation.

Dataset Information

6DoF Pose Estimation of Transparent Object from a Single RGB-D Image.

Publications

6DoF Pose Estimation of Transparent Object from a Single RGB-D Image.

Similar Datasets

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