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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 陳祝嵩 | zh_TW |
| dc.contributor.advisor | Chu-Song Chen | en |
| dc.contributor.author | 洪彥揚 | zh_TW |
| dc.contributor.author | Yen-Yang Hung | en |
| dc.date.accessioned | 2024-08-26T16:22:30Z | - |
| dc.date.available | 2024-08-27 | - |
| dc.date.copyright | 2024-08-26 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-08-10 | - |
| dc.identifier.citation | 1. Y. An, D. Yang, and M. Song. Hft6d: Multimodal 6d object pose estimation based on hierarchical feature transformer. Measurement, 224:113848, 2024.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/95036 | - |
| dc.description.abstract | 我們提出了一種新方法，能夠從單張RGB圖像準確估計新物體的6自由度（6DoF）姿態。我們的方法巧妙地結合了2D-3D關鍵點的對應和透過渲染比較來優化姿態。具體來說，我們首先使用現有的物體檢測技術檢測輸入圖像中的目標物體，然後通過2D-3D關鍵點匹配來估計初始的6DoF姿態。最後，我們利用3D高斯渲染技術，通過比較渲染圖像與輸入圖像來精細化優化物體的姿態。我們的方法結合了基於點雲模型的2D-3D關鍵點對應和基於3D高斯點的渲染模型，並實現了高效的可微渲染技術。實驗結果顯示，我們的方法在LINEMOD、YCB-V和OnePose-LowTexture等數據集上表現出色，尤其適用於實景和室內場景中的應用。 | zh_TW |
| dc.description.abstract | We introduce a new method for accurately estimating the 6DoF pose of new objects from a single RGB image. Our approach cleverly integrates 2D-3D keypoint correspondences and utilizes rendering comparisons to optimize the pose. Specifically, we first employ existing object detection techniques to detect the target object in the input image. Next, we estimate the initial 6DoF pose using 2D-3D keypoint matching. Finally, we refine the object's pose using 3D Gaussian rendering techniques by comparing rendered images with the input image. Our method combines 2D-3D keypoint correspondences based on point cloud models and utilizes 3D Gaussian rendering models, implementing efficient differentiable rendering techniques. Experimental results demonstrate the effectiveness of our approach on datasets such as LINEMOD, YCB-V, and OnePose-LowTexture, particularly in real-world and indoor settings. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-08-26T16:22:30Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-08-26T16:22:30Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | Verification Letter from the Oral Examination Committee i
Acknowledgements ii 摘要 iii Abstract iv Contents v List of Figures viii Chapter 1 Introduction 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Chapter 2 Related Works 6 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 Instance-Level 6Dof Object Pose Estimation . . . . . . . . . . . . . 8 2.2.1 Regression-Based Methods . . . . . . . . . . . . . . . . . . . . . . 8 2.2.1.1 Geometry-Guided Regression . . . . . . . . . . . . . . 9 2.2.1.2 Direct Regression Methods . . . . . . . . . . . . . . . 11 2.2.2 Keypoint-based methods . . . . . . . . . . . . . . . . . . . . . . . 12 2.2.2.1 Sparse Correspondence Methods . . . . . . . . . . . . 12 2.2.2.2 Dense Correspondence Methods . . . . . . . . . . . . 14 2.3 Category-Level 6Dof Object Pose Estimation . . . . . . . . . . . . . 16 2.4 Unseen 6Dof Object Pose Estimation . . . . . . . . . . . . . . . . . 17 2.4.1 Keypoints matching-based methods . . . . . . . . . . . . . . . . . 18 2.4.2 render-and-compare method . . . . . . . . . . . . . . . . . . . . . 20 Chapter 3 Methods 22 3.1 Overview of Our Method . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2 Reconstructed SfM Point Cloud . . . . . . . . . . . . . . . . . . . . 24 3.3 2D3D Keypoints Matching . . . . . . . . . . . . . . . . . . . . . . 25 3.3.1 Coarse 2D3D Matching . . . . . . . . . . . . . . . . . . . . . . . 25 3.3.2 Fine Matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.3.3 Handling Novel Objects . . . . . . . . . . . . . . . . . . . . . . . . 28 3.4 Gaussian Splatting Refinement . . . . . . . . . . . . . . . . . . . . . 29 3.4.1 Optimization Procedure . . . . . . . . . . . . . . . . . . . . . . . . 29 3.4.2 Loss Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.4.3 Optimization Strategy . . . . . . . . . . . . . . . . . . . . . . . . . 31 Chapter 4 Experiments 32 4.1 Experimental Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.2 Benchmark Datasets . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.2.1 OnePose Dataset . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.2.2 LINEMOD Dataset . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.2.3 YCBVideo Dataset . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.2.4 OnePoseLowTexture Dataset . . . . . . . . . . . . . . . . . . . . 34 4.3 Evaluation Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.3.1 Average Distance Metric (ADD) . . . . . . . . . . . . . . . . . . . 36 4.3.2 Average Distance Metric for Symmetric Objects (ADDS) . . . . . 37 4.4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.4.1 Result on LINEMOD Dataset . . . . . . . . . . . . . . . . . . . . . 37 4.4.2 Result on OnePoseLowTexture Dataset . . . . . . . . . . . . . . . 38 4.4.3 Result on YCBVideo Dataset . . . . . . . . . . . . . . . . . . . . 39 Chapter 5 Conclusion 41 References 42 | - |
| dc.language.iso | en | - |
| dc.subject | 單張 RGB 影像 | zh_TW |
| dc.subject | 6D 姿態估計 | zh_TW |
| dc.subject | 2D-3D 特徵點匹配 | zh_TW |
| dc.subject | 可微渲染 | zh_TW |
| dc.subject | Differentiable rendering | en |
| dc.subject | 2D-3D keypoint matching | en |
| dc.subject | Single RGB image | en |
| dc.subject | 6DoF pose estimation | en |
| dc.title | 基於 RGB 圖像中新物體的 6D 姿態估計 | zh_TW |
| dc.title | 6D Pose Estimation of Novel Objects Based on RGB Images | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 張明清;陳駿丞 | zh_TW |
| dc.contributor.oralexamcommittee | Ming-Ching Chang;Jun-Cheng Chen | en |
| dc.subject.keyword | 6D 姿態估計,單張 RGB 影像,可微渲染,2D-3D 特徵點匹配, | zh_TW |
| dc.subject.keyword | 6DoF pose estimation,Single RGB image,Differentiable rendering,2D-3D keypoint matching, | en |
| dc.relation.page | 52 | - |
| dc.identifier.doi | 10.6342/NTU202403279 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2024-08-13 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 資訊工程學系 | - |
| 顯示於系所單位： | 資訊工程學系 | |
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