%PDF-1.6
%
39 0 obj
<<
/Length 9494
>>
stream
0 g 0 G
0 g 0 G
0 g 0 G
0 g 0 G
0 g 0 G
BT
/F122 14.3462 Tf 80.851 675.067 Td [(Occlusion-Rob)20(ust)-250(Object)-250(P)20(ose)-250(Estimation)-250(with)-250(Holistic)-250(Repr)18(esentation)]TJ/F123 11.9552 Tf 34.448 -37.858 Td [(Bo)-250(Chen)]TJ -44.246 -13.947 Td [(The)-250(Uni)25(v)15(ersity)-250(of)-250(Adelaide)]TJ/F124 8.9664 Tf 3.467 -13.948 Td [(bo.chen@adelaide.edu.au)]TJ/F123 11.9552 Tf 198.07 27.895 Td [(T)80(at-Jun)-250(Chin)]TJ -34.431 -13.947 Td [(The)-250(Uni)25(v)15(ersity)-250(of)-250(Adelaide)]TJ/F124 8.9664 Tf -9.983 -13.948 Td [(tat-jun.chin@adelaide.edu.au)]TJ/F123 11.9552 Tf 189.009 27.895 Td [(Marius)-250(Klima)20(vicius)]TJ -11.92 -13.947 Td [(Blacksw)10(an)-250(T)70(echnologies)]TJ/F124 8.9664 Tf 5.655 -13.948 Td [(marius@blackswan.ltd)]TJ
0 g 0 G
/F122 11.9552 Tf -264.925 -41.046 Td [(Abstract)]TJ/F126 9.9626 Tf -83.928 -24.258 Td [(Pr)15(actical)-519(object)-519(pose)-519(estimation)-519(demands)-519(r)45(ob)20(ustness)]TJ -11.955 -11.956 Td [(a)10(gainst)-474(occlusions)-475(to)-474(the)-474(tar)37(g)10(et)-475(object.)-983(State-of-the-art)]TJ 0 -11.955 Td [(\050SO)40(T)50(A\051)-324(object)-324(pose)-323(estimator)10(s)-324(tak)10(e)-324(a)-324(two-sta)10(g)10(e)-324(appr)45(oac)15(h,)]TJ 0 -11.955 Td [(wher)37(e)-363(the)-362(\002r)10(st)-363(sta)10(g)10(e)-363(pr)37(edicts)-362(2D)-363(landmarks)-362(using)-363(a)-363(deep)]TJ 0 -11.955 Td [(network)-340(and)-340(the)-340(second)-339(sta)10(g)10(e)-340(solves)-340(for)-340(6DOF)-340(pose)-340(fr)45(om)]TJ 0 -11.955 Td [(2D-3D)-574(corr)37(espondences.)-1281(Albeit)-574(widely)-574(adopted,)-655(suc)15(h)]TJ 0 -11.956 Td [(two-sta)10(g)10(e)-422(appr)45(oac)15(hes)-423(could)-422(suf)18(fer)-423(fr)45(om)-422(no)10(vel)-423(occlusions)]TJ 0 -11.955 Td [(when)-421(g)10(ener)15(alising)-421(and)-420(weak)-421(landmark)-421(coher)37(ence)-421(due)-421(to)]TJ 0 -11.955 Td [(disrupted)-439(featur)37(es.)-879(T)92(o)-439(addr)37(ess)-440(these)-439(issues,)-487(we)-440(de)15(velop)]TJ 0 -11.955 Td [(a)-535(no)10(vel)-536(occlude-and-blac)20(k)10(out)-535(batc)15(h)-535(augmentation)-536(tec)15(h-)]TJ 0 -11.955 Td [(nique)-278(to)-279(learn)-278(occlusion-r)45(ob)20(ust)-278(deep)-279(featur)37(es,)-285(and)-278(a)-279(multi-)]TJ 0 -11.955 Td [(pr)37(ecision)-542(supervision)-542(ar)37(c)15(hitectur)37(e)-542(to)-542(encour)15(a)10(g)10(e)-542(holistic)]TJ 0 -11.956 Td [(pose)-520(r)37(epr)37(esentation)-520(learning)-520(for)-520(accur)15(ate)-520(and)-520(coher)37(ent)]TJ 0 -11.955 Td [(landmark)-412(pr)37(edictions.)-794(W)92(e)-412(perform)-412(car)37(eful)-411(ablation)-412(tests)]TJ 0 -11.955 Td [(to)-393(verify)-394(the)-393(impact)-393(of)-393(our)-394(inno)10(vations)-393(and)-393(compar)37(e)-394(our)]TJ 0 -11.955 Td [(method)-314(to)-313(SO)40(T)50(A)-314(pose)-313(estimator)10(s.)-501(W)55(ithout)-313(the)-314(need)-313(of)-314(any)]TJ 0 -11.955 Td [(post-pr)45(ocessing)-214(or)-213(r)37(e\002nement,)-221(our)-214(method)-214(e)20(xhibits)-214(superior)]TJ 0 -11.955 Td [(performance)-263(on)-263(the)-264(LINEMOD)-263(dataset.)-349(On)-264(t)1(h)-1(e)-263(YCB-V)74(ideo)]TJ 0 -11.956 Td [(dataset)-375(our)-376(method)-375(outperforms)-376(all)-375(non-r)37(e\002nement)-376(meth-)]TJ 0 -11.955 Td [(ods)-330(in)-329(terms)-330(of)-329(the)-330(ADD\050-S\051)-329(metric.)-549(W)92(e)-329(also)-330(demonstr)15(ate)]TJ 0 -11.955 Td [(the)-311(high)-312(data-ef)18(\002ciency)-311(of)-311(our)-312(method.)-494(Our)-311(code)-311(is)-312(avail-)]TJ 0 -11.955 Td [(able)-250(at)]TJ
0 1 0 0 k 0 1 0 0 K
/F127 9.9626 Tf 29.888 0 Td [(http://)-4(github.com/)-4(BoChenYS/)-4(ROPE)]TJ
0 g 0 G
/F122 11.9552 Tf -29.888 -36.909 Td [(1.)-250(Intr)18(oduction)]TJ/F123 9.9626 Tf 11.955 -19.277 Td [(Object)-204(pose)-204(estimation)-204(is)-203(the)-204(task)-204(of)-204(inferring)-204(the)-204(relati)25(v)15(e)]TJ -11.955 -11.955 Td [(orientation)-349(and)-349(position)-348(between)-349(the)-349(tar)18(get)-349(object)-349(and)-349(the)]TJ 0 -11.955 Td [(observ)15(er)55(.)-392(Such)-277(inference)-277(is)-277(crucial)-277(in)-277(man)15(y)-278(vision)-277(applica-)]TJ 0 -11.956 Td [(tions)-273(such)-272(as)-273(robotic)-273(manipulation)-273([)]TJ
0 1 0 rg 0 1 0 RG
[(67)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-272(66)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-273(11)]TJ
0 g 0 G
[(],)-279(augmented)]TJ 0 -11.955 Td [(reality)-230([)]TJ
0 1 0 rg 0 1 0 RG
[(39)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-230(12)]TJ
0 g 0 G
[(],)-235(autonomous)-230(dri)25(ving)-230([)]TJ
0 1 0 rg 0 1 0 RG
[(10)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-230(61)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-230(63)]TJ
0 g 0 G
[(])-230(and)-231(space-)]TJ 0 -11.955 Td [(craft)-330(na)20(vig)5(ation)-329([)]TJ
0 1 0 rg 0 1 0 RG
[(6)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-330(49)]TJ
0 g 0 G
[(].)-549(The)-330(problem)-330(can)-329(be)-330(simpli\002ed)-330(if)]TJ 0 -11.955 Td [(depth)-400(information)-400(is)-400(a)20(v)25(ailable)-401([)]TJ
0 1 0 rg 0 1 0 RG
[(40)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-400(58)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-400(17)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-400(9)]TJ
0 g 0 G
[(].)-761(Ho)25(we)25(v)15(er)40(,)]TJ 0 -11.955 Td [(depth)-443(sensors)-442(are)-443(not)-442(al)10(w)10(ays)-443(practical.)-887(Pose)-443(estimation)]TJ 0 -11.955 Td [(from)-250(images)-250(is)-250(thus)-250(an)-250(important)-250(research)-250(problem.)]TJ 11.955 -12.303 Td [(In)-207(this)-208(paper)-207(we)-208(cons)1(ider)-208(the)-207(problem)-208(of)-207(object)-207(pose)-208(esti-)]TJ -11.955 -11.956 Td [(mation)-222(from)-222(a)-222(single)-222(RGB)-222(image.)-301(Our)-222(focus)-222(lies)-222(in)-223(the)-222(base)]TJ 0 -11.955 Td [(estimator)40(,)]TJ/F126 9.9626 Tf 42.203 0 Td [(i.e)]TJ/F123 9.9626 Tf 9.684 0 Td [(.,)-304(from)-294(input)-293(image)-293(to)-294(the)-293(output)-293(pose,)-305(before)]TJ -51.887 -11.955 Td [(an)15(y)-357(re\002nement)-356(step.)-630(F)15(or)-357(the)-356(base)-357(estimator)40(,)-383(a)-357(number)-357(of)]TJ 0 -11.955 Td [(w)10(orks)-346([)]TJ
0 1 0 rg 0 1 0 RG
[(27)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-347(62)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-346(45)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-347(13)]TJ
0 g 0 G
[(])-346(adopt)-347(direct)-346(re)15(gression)-347(approaches)]TJ
0 g 0 G
0 g 0 G
0 g 0 G
ET
1 0 0 1 308.862 304.001 cm
q
.34845 0 0 .34845 0 0 cm
q
1 0 0 1 0 0 cm
/Im1 Do
Q
Q
1 0 0 1 -308.862 -304.001 cm
BT
/F123 8.9664 Tf 308.862 293.042 Td [(Figure)-320(1.)-321(Qualitati)25(v)15(e)-320(results)-320(of)-320(our)-321(rob)20(ust)-320(object)-320(pose)-321(es)1(timation)]TJ 0 -10.959 Td [(on)-218(the)-219(Occluded-LINEMOD)-218(\050top)-218(and)-219(middle)1(\051)-219(and)-218(the)-218(YCB-V)60(ideo)]TJ 0 -10.959 Td [(\050bottom\051)-320(datasets.)]TJ/F122 8.9664 Tf 69.557 0 Td [(Left)]TJ/F123 8.9664 Tf 15.934 0 Td [(:)-451(prediction)-320(of)-321(bounding)-320(box)15(es)-320(and)-321(land-)]TJ -85.491 -10.959 Td [(marks)-297(of)-297(the)-298(tar)18(get)-297(object)-297(in)-297(a)-297(test)-297(image)-298(\050zoomed)-297(vie)25(w\051.)]TJ/F122 8.9664 Tf 212.337 0 Td [(Right)]TJ/F123 8.9664 Tf 21.42 0 Td [(:)]TJ -233.757 -10.958 Td [(prediction)-250(of)-250(6DOF)-250(poses)-250(without)-250(post-processing)-250(or)-250(re\002nement.)]TJ
0 g 0 G
/F123 9.9626 Tf 0 -35.077 Td [(which)-341(map)-341(the)-341(input)-340(image)-341(that)-341(contains)-341(the)-341(tar)18(get)-341(object)]TJ 0 -11.955 Td [(to)-353(its)-353(6)-353(DOF)-353(pose.)-619(Ho)25(we)25(v)15(er)40(,)-379(such)-353(approaches)-354(t)1(end)-354(to)-353(be)]TJ 0 -11.955 Td [(sensiti)25(v)15(e)-213(to)-212(occlusions)-213(and)-212(are)-213(observ)15(ed)-212(to)-213(be)-213(similar)-212(to)-213(per)20(-)]TJ 0 -11.955 Td [(forming)-250(image)-250(retrie)25(v)25(al)-250([)]TJ
0 1 0 rg 0 1 0 RG
[(48)]TJ
0 g 0 G
[(].)]TJ 11.955 -13.579 Td [(Rather)-356(than)-355(directly)-356(re)15(gressing)-355(the)-356(pose,)-382(tw)10(o-stage)-356(ap-)]TJ -11.955 -11.955 Td [(proaches)-217([)]TJ
0 1 0 rg 0 1 0 RG
[(23)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(25)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(35)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-217(41)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(42)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-217(44)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(46)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-217(64)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(51)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-217(43)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-218(57)]TJ
0 g 0 G
[(])-217(\002rst)-218(pre-)]TJ 0 -11.955 Td [(dict)-256(landmarks)-257(on)-256(the)-256(object)-257(to)-256(establish)-256(2D-3D)-257(correspon-)]TJ 0 -11.955 Td [(dences,)-249(then)-248(use)-248(a)-249(Perspecti)25(v)15(e-n-Point)-248(\050PnP\051)-248(lik)10(e)-249(algorithm)]TJ 0 -11.956 Td [(to)-400(solv)15(e)-400(for)-400(the)-400(pose.)-760(Pre)25(vious)-400(results)-400(suggest)-400(that)-400(tw)10(o-)]TJ 0 -11.955 Td [(stage)-305(methods)-305(are)-305(generally)-305(more)-305(accurate)-305([)]TJ
0 1 0 rg 0 1 0 RG
[(41)]TJ
0 g 0 G
[(,)]TJ
0 1 0 rg 0 1 0 RG
[-305(22)]TJ
0 g 0 G
[(].)-475(Their)]TJ 0 -11.955 Td [(strengths)-285(deri)25(v)15(e)-284(from)-285(training)-285(the)-285(model)-284(with)-285(richer)-285(super)20(-)]TJ 0 -11.955 Td [(vision)-280(signals)-279(\050)]TJ/F126 9.9626 Tf 60.926 0 Td [(i.e)]TJ/F123 9.9626 Tf 9.684 0 Td [(.,)-287(groundtruth)-280(landmarks\051)-280(rather)-279(than)-280(just)]TJ
0 g 0 G
0 g 0 G
ET
endstream
endobj
5 0 obj
<<
/Type /XObject
/Subtype /Form
/FormType 1
/PTEX.FileName (./figs/punch_v2.pdf)
/PTEX.PageNumber 1
/PTEX.InfoDict 50 0 R
/BBox [0 0 678 787]
/Resources <<
/ProcSet [ /PDF /ImageB /ImageC /ImageI ]
/XObject <<
/Im1 51 0 R
>>>>
/Length 54
/Filter /FlateDecode
>>
stream
x+TT(TH-JN-()MQ(
[( 9NU5Tp
endstream
endobj
51 0 obj
<<
/Length 52 0 R
/Type /XObject
/Subtype /Image
/Width 1356
/Height 1574
/Interpolate true
/ColorSpace 53 0 R
/Intent /Perceptual
/SMask 54 0 R
/BitsPerComponent 8
/Filter /FlateDecode
>>
stream
xtYv;ўss@Yd"gB9PΙ443QerϽy~^~e?9| M]ZUTO{Q;{s_/5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5jP#F@5j:DW5jP#F@5jP#>3P?5jP#F@5jP#+ P#F@5jP#F@#=;5jP#F@5j}DX<
^cHPLp`a!qa!GĈLJGEGF&x|Rt4#&:%&z=J¯hL!&*Oo($o РDFpbHPBx"80>80!'pBHgxD "a2)a "9g8a "5