Rapid Estimation of Optical Properties for Simulation-Based Evaluation of Pose Estimation Performance

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Abstract

A growing trend in computer vision is the use of synthetic images for the evaluation of computer vision algorithms such as 3D pose estimation. This is partly due to the availability of high-quality render engines, which provide highly realistic synthetic images. However, the realism of the rendered images, and thus the reliability of the evaluations, strongly depends on how accurately the scenes are modeled and it requires considerable time and knowledge to do the modeling manually. Automating the modeling process is therefore crucial for making the rendering of photo-realistic synthetic images accessible to the wider robotics community. We present a method for automatically modeling object and light properties for rigid, opaque plastic objects commonly found in industry. Our method relies on recordings of the environment captured with a consumer $360^{\mathrm{o}}$ camera to model the light, and on analysis-by-synthesis to estimate the optical properties of the objects. We show that the synthetic images rendered based on our automatic modeling method can be used to predict the overall performance of a monocular 3D pose estimation algorithm.
Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication dateNov 2019
Pages2030-2037
ISBN (Print)978-1-7281-4005-6
ISBN (Electronic)978-1-7281-4004-9
DOIs
Publication statusPublished - Nov 2019
Event 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Macau, China
Duration: 3. Nov 20198. Nov 2019

Conference

Conference 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryChina
CityMacau
Period03/11/201908/11/2019
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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    Iversen, T. M., Wilm, J., & Kraft, D. (2019). Rapid Estimation of Optical Properties for Simulation-Based Evaluation of Pose Estimation Performance. In Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2030-2037). IEEE. I E E E International Conference on Intelligent Robots and Systems. Proceedings https://doi.org/10.1109/IROS40897.2019.8967553