A Method for Unseen Object Six Degrees of Freedom Pose Estimation Based on Segment Anything Model and Hybrid Distance Optimization

Abstract

Six degrees of freedom pose estimation technology constitutes the cornerstone for precise robotic control and similar tasks. Addressing the limitations of current 6-DoF pose estimation methods in handling object occlusions and unknown objects, we have developed a novel two-stage 6-DoF pose estimation method that integrates RGB-D data with CAD models. Initially, targeting high-quality zero-shot object instance segmentation tasks, we innovated the CAE-SAM model based on the SAM framework. In addressing the SAM model’s boundary blur, mask voids, and over-segmentation issues, this paper introduces innovative strategies such as local spatial-feature-enhancement modules, global context markers, and a bounding box generator. Subsequently, we proposed a registration method optimized through a hybrid distance metric to diminish the dependency of point cloud registration algorithms on sensitive hyperparameters. Experimental results on the HQSeg-44K dataset substantiate the notable improvements in instance segmentation accuracy and robustness rendered by the CAE-SAM model. Moreover, the efficacy of this two-stage method is further corroborated using a 6-DoF pose dataset of workpieces constructed with CloudCompare and RealSense. For unseen targets, the ADD metric achieved 2.973 mm, and the ADD-S metric reached 1.472 mm. This paper significantly enhances pose estimation performance and streamlines the algorithm’s deployment and maintenance procedures.