Next Viewpoint Recommendation by Pose Ambiguity Minimization for Accurate Object Pose Estimation

Nik Mohd Zarifie Hashim, Yasutomo Kawanishi, Daisuke Deguchi, Ichiro Ide, Hiroshi Murase, Ayako Amma, Norimasa Kobori

2019

Abstract

3D object pose estimation by using a depth sensor is one of the important tasks in activities by robots. To reduce the pose ambiguity of an estimated object pose, several methods for multiple viewpoint pose estimation have been proposed. However, these methods need to select the viewpoints carefully to obtain better results. If the pose of the target object is ambiguous from the current observation, we could not decide where we should move the sensor to set as the next viewpoint. In this paper, we propose a best next viewpoint recommendation method by minimizing the pose ambiguity of the object by making use of the current pose estimation result as a latent variable. We evaluated viewpoints recommended by the proposed method and confirmed that it helps us to gain better pose estimation results than several comparative methods on a synthetic dataset.

Paper Citation

in Harvard Style

Hashim N., Kawanishi Y., Deguchi D., Ide I., Murase H., Amma A. and Kobori N. (2019). Next Viewpoint Recommendation by Pose Ambiguity Minimization for Accurate Object Pose Estimation. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 60-67. DOI: 10.5220/0007366700600067

in Bibtex Style

@conference{visapp19,
author={Nik Mohd Zarifie Hashim and Yasutomo Kawanishi and Daisuke Deguchi and Ichiro Ide and Hiroshi Murase and Ayako Amma and Norimasa Kobori},
title={Next Viewpoint Recommendation by Pose Ambiguity Minimization for Accurate Object Pose Estimation},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP},
year={2019},
pages={60-67},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007366700600067},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP
TI - Next Viewpoint Recommendation by Pose Ambiguity Minimization for Accurate Object Pose Estimation
SN - 978-989-758-354-4
AU - Hashim N.
AU - Kawanishi Y.
AU - Deguchi D.
AU - Ide I.
AU - Murase H.
AU - Amma A.
AU - Kobori N.
PY - 2019
SP - 60
EP - 67
DO - 10.5220/0007366700600067
PB - SciTePress