TY - GEN
T1 - Non-Penetration Iterative Closest Points for Single-View Multi-Object 6D Pose Estimation
AU - Zhang, Mengchao
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents a novel iterative closest points (ICP) variant, non-penetration iterative closest points (NPICP), which prevents interpenetration in 6DOF pose optimization and/or joint optimization of multiple object poses. This capability is particularly advantageous in cluttered scenarios, where there are many interactions between objects that constrain the space of valid poses. We use a semi-infinite programming approach to handle non-penetration constraints between complex, non-convex 3D geometries. NPICP is applied to a common use case for ICP as a post-processing method to improve the pose estimation accuracy of a rough guess. The results show that NPICP outperforms ICP, assists in outlier detection, and also outperforms the best result on the IC-BIN dataset in the Benchmark for 6D Object Pose Estimation.
AB - This paper presents a novel iterative closest points (ICP) variant, non-penetration iterative closest points (NPICP), which prevents interpenetration in 6DOF pose optimization and/or joint optimization of multiple object poses. This capability is particularly advantageous in cluttered scenarios, where there are many interactions between objects that constrain the space of valid poses. We use a semi-infinite programming approach to handle non-penetration constraints between complex, non-convex 3D geometries. NPICP is applied to a common use case for ICP as a post-processing method to improve the pose estimation accuracy of a rough guess. The results show that NPICP outperforms ICP, assists in outlier detection, and also outperforms the best result on the IC-BIN dataset in the Benchmark for 6D Object Pose Estimation.
UR - http://www.scopus.com/inward/record.url?scp=85136319619&partnerID=8YFLogxK
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U2 - 10.1109/ICRA46639.2022.9812043
DO - 10.1109/ICRA46639.2022.9812043
M3 - Conference contribution
AN - SCOPUS:85136319619
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1520
EP - 1526
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
Y2 - 23 May 2022 through 27 May 2022
ER -