Category Level Object Pose Estimation via Global High-Order Pooling

Abstract

Category level 6D object pose estimation aims to predict the rotation, translation and size of object instances in any scene. In current research methods, global average pooling (first-order) is usually used to explore geometric features, which can only capture the first-order statistical information of the features and do not fully utilize the potential of the network. In this work, we propose a new high-order pose estimation network (HoPENet), which enhances feature representation by collecting high-order statistics to model high-order geometric features at each stage of the network. HoPENet introduces a global high-order enhancement module and utilizes global high-order pooling operations to capture the correlation between features and fuse global information. In addition, this module can capture long-term statistical correlations and make full use of contextual information. The entire network finally obtains a more discriminative feature representation. Experiments on two benchmarks, the virtual dataset CAMERA25 and the real dataset REAL275, demonstrate the effectiveness of HoPENet, achieving state-of-the-art (SOTA) pose estimation performance.