Instance-level 6D pose estimation based on multi-task parameter sharing for robotic grasping
Abstract Six-dimensional pose estimation task predicts its 3D rotation matrix and 3D translation matrix in the world coordinate system by inputting the color image or depth image of the target object. Existing methods usually use deep neural networks to directly predict or regress object poses based...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2024-04-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-024-58590-x |