MaskedFusion: Mask-based 6D Object Pose Estimation

Understand

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses.

• 6D pose estimation is an open challenge due to complex world objects and many possible problems when capturing data from the real world, e.g., occlusions, truncations, and noise in the data.
• Achieving accurate 6D poses will improve results in other open problems like robot grasping or positioning objects in augmented reality.
• MaskedFusion improves the state-of-the-art by using object masks to eliminate non-relevant data.