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Real-time texturing for 6D object instance detection from RGB Images

2019-12-13 10:54:25
Pavel Rojtberg, Arjan Kuijper
arXiv_CV
           
Abstract

For objected detection, the availability of color cues strongly influences detection rates and is even a prerequisite for many methods. However, when training on synthetic CAD data, this information is not available. We therefore present a method for generating a texture-map from image sequences in real-time. The method relies on 6 degree-of-freedom poses and a 3D-model being available. In contrast to previous works this allows interleaving detection and texturing for upgrading the detector on-the-fly. Our evaluation shows that the acquired texture-map significantly improves detection rates using the LINEMOD detector on RGB images only. Additionally, we use the texture-map to differentiate instances of the same object by surface color.

Abstract (translated)

URL

https://arxiv.org/abs/1912.06404

PDF

https://arxiv.org/pdf/1912.06404.pdf

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