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TP-AE

TP-AE: Temporally Primed 6D Object Pose Tracking with Auto-Encoders

MLinfang Zheng, Ales Leonardis, Tze Ho Elden Tse, Nora Horanyi, Hua Chen, Wei Zhang, Hyung Jin Chang, ICRA2022

paper

Overview

Fast and accurate tracking of an object's motion is one of the key functionalities of a robotic system for achieving reliable interaction with the environment. This paper focuses on the instance-level six-dimensional (6D) pose tracking problem with a symmetric and textureless object under occlusion. We propose a Temporally Primed 6D pose tracking framework with Auto-Encoders (TP-AE) to tackle the pose tracking problem. The framework consists of a prediction step and a temporally primed pose estimation step. The prediction step aims to quickly and efficiently generate a guess on the object's real-time pose based on historical information about the target object's motion. Once the prior prediction is obtained, the temporally primed pose estimation step embeds the prior pose into the RGB-D input, and leverages auto-encoders to reconstruct the target object with higher quality under occlusion, thus improving the framework's performance. Extensive experiments show that the proposed 6D pose tracking method can accurately estimate the 6D pose of a symmetric and textureless object under occlusion, and significantly outperforms the state-of-the-art on T-LESS dataset while running in real-time at 26 FPS.

Requirements: Hardware

For Training

Nvidia GPU with >4GB memory (or adjust the batch size)
RAM >8GB
Duration depending on Configuration and Hardware: ~18h per Object

Requirements: Software

Linux Python 3

GLFW for OpenGL:

sudo apt-get install libglfw3-dev libglfw3

Assimp:

sudo apt-get install libassimp-dev

Tensorflow >= 1.6
OpenCV >= 3.1

pip install --user --pre --upgrade PyOpenGL PyOpenGL_accelerate
pip install --user cython
pip install --user cyglfw3
pip install --user pyassimp==3.3
pip install --user imgaug
pip install --user progressbar

Headless Rendering

Please note that we use the GLFW context as default which does not support headless rendering. To allow for both, onscreen rendering & headless rendering on a remote server, set the context to EGL:

export PYOPENGL_PLATFORM='egl'

In order to make the EGL context work, you might need to change PyOpenGL like here

Citation

If you find Augmented Autoencoders useful for your research, please consider citing:

@INPROCEEDINGS{9811890,
  author={Zheng, Linfang and Leonardis, Aleš and Tse, Tze Ho Elden and Horanyi, Nora and Chen, Hua and Zhang, Wei and Chang, Hyung Jin}, 
  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
  title={TP-AE: Temporally Primed 6D Object Pose Tracking with Auto-Encoders}, 
  year={2022}, 
  volume={}, 
  number={}, 
  pages={10616-10623}, 
  doi={10.1109/ICRA46639.2022.9811890}}

Acknowledgement

Our implementation leverages the code from AAE