CVAM-Pose: Conditional Variational Autoencoder for Multi-Object Monocular Pose Estimation


Jianyu Zhao (University of Central Lancashire), Wei Quan (University of Central Lancashire), Bogdan Matuszewski (University of Central Lancashire)
The 35th British Machine Vision Conference
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Abstract

Estimating rigid objects' poses is one of the fundamental problems in computer vision, with a range of applications across automation and augmented reality. Most existing approaches adopt one network per object class strategy, depend heavily on objects’ 3D models, depth data, and employ a time-consuming iterative refinement, which could be impractical for some applications. This paper presents a novel approach, CVAM-Pose, for multi-object monocular pose estimation that addresses these limitations. The CVAM-Pose method employs a label-embedded conditional variational autoencoder network, to implicitly abstract regularised representations of multiple objects in a single low-dimensional latent space. This autoencoding process uses only images captured by a projective camera and is robust to objects' occlusion and scene clutter. The classes of objects are one-hot encoded and embedded throughout the network. The proposed label-embedded pose regression strategy interprets the learnt latent space representations utilising continuous pose representations. Ablation tests and systematic evaluations demonstrate the scalability and efficiency of the CVAM-Pose method for multi-object scenarios. The proposed CVAM-Pose outperforms competing latent space approaches. For example, it is respectively 25\% and 20\% better than AAE and Multi-Path methods, when evaluated using the $\mathrm{AR_{VSD}}$ metric on the Linemod-Occluded dataset. It also achieves results somewhat comparable to methods reliant on 3D models reported in BOP challenges. Code available: https://github.com/JZhao12/CVAM-Pose.

Citation

@inproceedings{Zhao_2024_BMVC,
author    = {Jianyu Zhao and Wei Quan and Bogdan Matuszewski},
title     = {CVAM-Pose: Conditional Variational Autoencoder for Multi-Object Monocular Pose Estimation},
booktitle = {35th British Machine Vision Conference 2024, {BMVC} 2024, Glasgow, UK, November 25-28, 2024},
publisher = {BMVA},
year      = {2024},
url       = {https://papers.bmvc2024.org/0967.pdf}
}


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