Part-level Reconstruction for Self-Supervised Category-level 6D Object Pose Estimation with Coarse-to-Fine Correspondence Optimization

摘要

Self-supervised category-level 6D pose estimation stands as a fundamental task in computer vision. However, current self-supervised methods face two major challenges. Firstly, existing networks struggle to reconstruct precise object models due to significant part-level shape variations among specific categories. Secondly, they are impacted by the many-to-one ambiguity in the correspondences between pixels and point clouds. To address these challenges, we propose a novel approach that includes a Part-level Shape Reconstruction (PSR) module and a Coarse-to-Fine Correspondence Optimization (CFCO) module. In the (PSR) module, we introduce a part-level discrete shape memory to capture more fine-grained shape variations of different objects and use it to perform precise reconstruction. In the (CFCO) module, we utilize Hungarian matching to generate one-to-one pseudo labels at both region and pixel levels, which provides explicit supervision for the corresponding similarity matrices. We evaluate our method on the REAL275 and WILD6D datasets. Our extensive experiments show that our self-supervised approach outperforms existing methods and achieves new state-of-the-art results within the self-supervised framework.