HybridPose: 6D Object Pose Estimation Under Hybrid Representations

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry correspondences. Compared to a unitary representation, our hybrid representation allows pose regression to exploit more and diverse features when one type of predicted representation is inaccurate (e.g., because of occlusion). Different intermediate representations used by HybridPose can all be predicted by the same simple neural network, and outliers in predicted intermediate representations are filtered by a robust regression module. Compared to state-of-the-art pose estimation approaches, Hy-bridPose is comparable in running time and accuracy. For example, on Occlusion Linemod [3] dataset, our method achieves a prediction speed of 30 fps with a mean ADD(-S) accuracy of 47.5%, representing a state-of-the-art performance 1 . The implementation of HybridPose is available at https://github.com/chensong1995/HybridPose . * Authors contributed equally 1 We are informed by readers that our previous experimental setup is inconsistent with baselines. This problem is fixed in the current version of the paper. Please refer to our GitHub issues for related discussions.