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  4. Wide-Depth-Range 6D Object Pose Estimation in Space
 
conference paper

Wide-Depth-Range 6D Object Pose Estimation in Space

Hu, Yinlin  
•
Speierer, Sebastien
•
Jakob, Wenzel  
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June 25, 2021
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Conference on Computer Vision and Pattern Recognition (CVPR)

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great distance while complicating illumination conditions. Currently available benchmark datasets do not place a sufficient emphasis on this aspect and mostly depict the target in close proximity. Prior work tackling pose estimation under large scale variations relies on a two-stage approach to first estimate scale, followed by pose estimation on a resized image patch. We instead propose a single-stage hierarchical end-to-end trainable network that is more robust to scale variations. We demonstrate that it outperforms existing approaches not only on images synthesized to resemble images taken in space but also on standard benchmarks.

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Type
conference paper
DOI
10.1109/CVPR46437.2021.01561
Author(s)
Hu, Yinlin  
Speierer, Sebastien
Jakob, Wenzel  
Fua, Pascal  
Salzmann, Mathieu  
Date Issued

2021-06-25

Publisher

IEEE

Published in
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Start page

15870

15865

End page

15879

15874

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
CVLAB  
RGL  
Event nameEvent placeEvent date
Conference on Computer Vision and Pattern Recognition (CVPR)

Virtual

June 19-25, 2021

Available on Infoscience
June 28, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/179558
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