EfficientPose — An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach
In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources...
Moreover, it can detect the 2D bounding box of multiple objects and instances as well as estimate their full 6D poses in a single shot. This eliminates the significant increase in runtime when dealing with multiple objects other approaches suffer from. These approaches aim to first detect 2D targets, e.g. keypoints, and solve a Perspective-n-Point problem for their 6D pose for each object afterwards. We also propose