Robust 3d Object Pose Estimation And Tracking From Monocular Images In Industrial Environment PDF Download

3D object detection and pose estimation are of primary importance for tasks such as robotic manipulation, augmented reality and they have been the focus of intense research in recent years. Methods relying on depth data acquired by depth cameras are robust. Unfortunately, active depth sensors are power hungry or sometimes it is not possible to use them. It is therefore often desirable to rely on color images. When training machine learning algorithms that aim at estimate object's 6D poses from images, many challenges arise, especially in industrial context that requires handling objects with symmetries and generalizing to unseen objects, i.e. objects never seen by the networks during training.In this thesis, we first analyse the link between the symmetries of a 3D object and its appearance in images. Our analysis explains why symmetrical objects can be a challenge when training machine learning algorithms to predict their 6D pose from images. We then propose an efficient and simple solution that relies on the normalization of the pose rotation. This approach is general and can be used with any 6D pose estimation algorithm.Then, we address the second main challenge: the generalization to unseen objects. Many recent methods for 6D pose estimation are robust and accurate but their success can be attributed to supervised Machine Learning approaches. For each new object, these methods have to be retrained on many different images of this object, which are not always available. Even if domain transfer methods allow for training such methods with synthetic images instead of real ones-at least to some extent-such training sessions take time, and it is highly desirable to avoid them in practice.We propose two methods to handle this problem. The first method relies only on the objects' geometries and focuses on objects with prominent corners, which covers a large number of industrial objects. We first learn to detect object corners of various shapes in images and also to predict their 3D poses, by using training images of a small set of objects. To detect a new object in a given image, we first identify its corners from its CAD model; we also detect the corners visible in the image and predict their 3D poses. We then introduce a RANSAC-like algorithm that robustly and efficiently detects and estimates the object's 3D pose by matching its corners on the CAD model with their detected counterparts in the image.The second method overcomes the limitations of the first one as it does not require objects to have specific corners and the offline selection of the corners on the CAD model. It combines Deep Learning and 3D geometry and relies on an embedding of the local 3D geometry to match the CAD models to the input images. For points at the surface of objects, this embedding can be computed directly from the CAD model; for image locations, we learn to predict it from the image itself. This establishes correspondences between 3D points on the CAD model and 2D locations of the input images. However, many of these correspondences are ambiguous as many points may have similar local geometries. We also show that we can use Mask-RCNN in a class-agnostic way to detect the new objects without retraining and thus drastically limit the number of possible correspondences. We can then robustly estimate a 3D pose from these discriminative correspondences using a RANSAC-like algorithm.