Estimating the 6D pose of objects is an important process for intelligent systems to achieve interaction with the real-world. 
As the RGB-D sensors become more accessible, the fusion-based methods have prevailed, since the point clouds provide complementary geometric information with RGB values. However, due to the difference in feature space between color image and depth image, the network structures that directly perform point-to-point matching fusion do not effectively fuse the features of the two. 
In this paper, we propose a simple but effective approach, named MixedFusion. Different from the prior works, we argue that the spatial correspondence of color and point clouds could be decoupled and reconnected, thus enabling a more flexible fusion scheme. By performing the proposed method, more informative points can be mixed and fused with rich color features.
Extensive experiments are conducted on the challenging LineMod and YCB-Video datasets, which shows that our method significantly boosts the performance without introducing extra overheads. Furthermore, when the minimum tolerance of metric narrows, the proposed approach performs better for the high-precision demands.

MixedFusion: 6D Object Pose Estimation from Decoupled RGB-Depth Features

**Session Chair**: prof. Silvia Cascianelli

PS T3.8: Computer Vision and Intelligent Sensing

poster

ICPR 2020 is the premier international conference on Pattern Recognition, gathering leading researchers from around the world to present their latest achievements in Pattern Analysis and Recognition, applied Artificial Intelligence and Machine Learning. The topic of the year is " Putting Artificial intelligence to work on Patterns". 
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In this edition of the **ICPR 2020** Conference, there are 1407 Oral/Poster presentations organized in five Tracks: 
- Artificial Intelligence, Machine Learning for Pattern Analysis; 
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The **ICPR 2020** Main Conference program also includes 7 Keynotes from prominent world-renowned scientists, 8 Tutorials, 28 Demos, 8 Challenges, 2 Panels, as well as an Industry/Sponsor Exhibition. In addition, 41 Workshops on a range of important current and emerging research topics complete the ICPR 2020 program. 


Hangtao Feng

1

SHORT BIO

Presentations

MixedFusion: 6D Object Pose Estimation from Decoupled RGB-Depth Features