FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimation

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dc.contributor.authorPöllabauer, Thomasen_US
dc.contributor.authorPramod, Ashwinen_US
dc.contributor.authorKnauthe, Volkeren_US
dc.contributor.authorWahl, Michaelen_US
dc.contributor.editorCaputo, Arielen_US
dc.contributor.editorGarro, Valeriaen_US
dc.contributor.editorGiachetti, Andreaen_US
dc.contributor.editorCastellani, Umbertoen_US
dc.contributor.editorDulecha, Tinsae Gebrechristosen_US
dc.date.accessioned2024-11-11T12:48:04Z
dc.date.available2024-11-11T12:48:04Z
dc.date.issued2024
dc.description.abstract6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in industrial tasks such as quality control, bin picking, and robotic manipulation, where both speed and accuracy are critical for real-world deployment. Current models, both classical and deep-learning-based, often struggle with the trade-off between accuracy and latency. Our research focuses on enhancing the speed of a prominent state-of-the-art deep learning model, GDRNPP, while keeping its high accuracy. We employ several techniques to reduce the model size and improve inference time. These techniques include using smaller and quicker backbones, pruning unnecessary parameters, and distillation to transfer knowledge from a large, high-performing model to a smaller, more efficient student model. Our findings demonstrate that the proposed configuration maintains accuracy comparable to the state-of-the-art while significantly improving inference time. This advancement could lead to more efficient and practical applications in various industrial scenarios, thereby enhancing the overall applicability of 6D Object Pose Estimation models in real-world settings.en_US
dc.description.sectionheadersComputer Vision
dc.description.seriesinformationSmart Tools and Applications in Graphics - Eurographics Italian Chapter Conference
dc.identifier.doi10.2312/stag.20241335
dc.identifier.isbn978-3-03868-265-3
dc.identifier.issn2617-4855
dc.identifier.pages10 pages
dc.identifier.urihttps://doi.org/10.2312/stag.20241335
dc.identifier.urihttps://diglib.eg.org/handle/10.2312/stag20241335
dc.publisherThe Eurographics Associationen_US
dc.rightsAttribution 4.0 International License
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectCCS Concepts: Computing methodologies → Scene understanding; Object detection; Neural networks
dc.subjectComputing methodologies → Scene understanding
dc.subjectObject detection
dc.subjectNeural networks
dc.titleFAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimationen_US
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Italian Chapter Conference 2024 - Smart Tools and Apps in Graphics