DeNos22: A Pipeline to Learn Object Tracking Using Simulated Depth

Penk D, Horn M, Strohmeyer C, Bauer F, Stamminger M (2023)

Publication Type: Conference contribution

Publication year: 2023

Original Authors: Dominik Penk, Maik Horn, Christoph Strohmeyer, Frank Bauer, Marc Stamminger

Series: Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

Conference Proceedings Title: Volume 5: VISAPP,

Event location: Lisbon PT

DOI: 10.5220/0011635100003417

Abstract

Abstract: We propose a novel pipeline to construct a learning based 6D object pose tracker, which is solely trained on synthetic depth images. The only required input is a (geometric) CAD model of the target object. Training data is synthesized by rendering stereo images of the CAD model, in front of a large variety of backgrounds generated by point-based re-renderings of prerecorded background scenes. Finally, depth from stereo is applied in order to mimic the behavior of depth sensors. The synthesized training input generalizes well to real-world scenes, but we further show how to improve real-world inference using robust estimators to counteract the errors introduced by the sim-to-real transfer. As a result, we show that our 6D pose trackers achieve state-of-the-art results without any annotated real-world data, solely based on a CAD-model of the target object.

Authors with CRIS profile

Dominik Penk Chair of Visual Computing (LGDV) Frank Bauer Chair of Visual Computing (LGDV) Marc Stamminger Chair of Visual Computing (LGDV)

Involved external institutions

Schaeffler Technologies AG & Co. KG DE Germany (DE)

How to cite

APA:

Penk, D., Horn, M., Strohmeyer, C., Bauer, F., & Stamminger, M. (2023). DeNos22: A Pipeline to Learn Object Tracking Using Simulated Depth. In Volume 5: VISAPP,. Lisbon, PT.

MLA:

Penk, Dominik, et al. "DeNos22: A Pipeline to Learn Object Tracking Using Simulated Depth." Proceedings of the Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP,, Lisbon 2023.

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