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arXiv · 2401.00029

6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation

Li Xu·Haoxuan Qu·Yujun Cai·Jun Liu
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Abstract

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating high-quality images from random noise with high indeterminacy through step-by-step denoising. Inspired by their denoising capability, we propose a novel diffusion-based framework (6D-Diff) to handle the noise and indeterminacy in object pose estimation for better performance. In our framework, to establish accurate 2D-3D correspondence, we formulate 2D keypoints detection as a reverse diffusion (denoising) process. To facilitate such a denoising process, we design a Mixture-of-Cauchy-based forward diffusion process and condition the reverse process on the object features. Extensive experiments on the LM-O and YCB-V datasets demonstrate the effectiveness of our framework.

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Li Xu, Haoxuan Qu, Yujun Cai, Jun Liu. 2023-12-29. 6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation. https://arxiv.org/abs/2401.00029

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