Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data

Understand

3D object detection and pose estimation from a single image are two inherently ambiguous problems.

• Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures.
• This ambiguity in both detection and pose estimation means that an object instance can be perfectly described by several different poses and even classes.
• In this work we propose to explicitly deal with this uncertainty.