Comments (1)
您好,说下我的个人理解哈:一个物体具有的空间属性主要有:3D平移(3D translation: x, y, z),3D旋转(3D Rotation: \alpha, \beta, \gamm),3D尺寸(3D Size: length, width, height)。其中3D平移T和3D旋转R是相对的概念,也即[RT]是将物体由初始状态变换到当前状态的变换;3D尺度是一个绝对的概念,每个物体都有唯一的3DSize。
3D检测、6D位姿估计都可以统称为Object Pose Estimation,区别在于各自需要估计参数的不同。3D检测估计的是物体的3D平移+1D角度+3D尺寸,其中1D角度是将3D旋转简化为单个平面内的旋转角度;6D位姿估计的是物体的3D平移+3D旋转,由于6D位姿估计针对的是实例级别的物体,因此其3D尺寸相当于已知;类别级6D位姿估计的是3D平移+3D旋转+3D尺寸,可以认为是任意旋转的3D检测。
类别级物体6D位姿的评价指标,论文NOCS中使用了3D检测的度量以及6D位姿估计的度量,3D检测计算不同3D IoU下的AP,6D位姿估计使用3D平移小于m cm的AP,3D角度小于n度下的AP,可以看下论文哈。
from vision-based-robotic-grasping.
Related Issues (7)
- 专业术语请教 HOT 2
- 如何制作自己的6d pose estimation训练数据集呢? HOT 4
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- 低成本硬件环境下的机械臂抓取 HOT 2
- 源码在哪里下载? HOT 1
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from vision-based-robotic-grasping.