• Corpus ID: 226227028

Pose Estimation of Specular and Symmetrical Objects

@article{Hu2020PoseEO,
  title={Pose Estimation of Specular and Symmetrical Objects},
  author={Jiaming Hu and Hongyi Ling and Priyam Parashar and Aayush Naik and Henrik I. Christensen},
  journal={ArXiv},
  year={2020},
  volume={abs/2011.00372}
}
In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the appearance of specularity heavily depends on the camera viewpoint and environmental light conditions making traditional methods, like template matching, fail. In the last 30 years, pose estimation of the specular object has been a consistent challenge, and most… 

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