HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

GUAN Qi; SHENG Zihao; XUE Shibei

doi:10.23919/cje.2021.00.211

Volume 32 Issue 1

Jan. 2023

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Article Navigation > Chinese Journal of Electronics > 2023 > 32(1): 189-198

GUAN Qi, SHENG Zihao, XUE Shibei, “HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation,” Chinese Journal of Electronics, vol. 32, no. 1, pp. 189-198, 2023, doi: 10.23919/cje.2021.00.211

Citation:

GUAN Qi, SHENG Zihao, XUE Shibei, “HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation,” Chinese Journal of Electronics, vol. 32, no. 1, pp. 189-198, 2023, doi: 10.23919/cje.2021.00.211

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HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

doi: 10.23919/cje.2021.00.211

GUAN Qi^{1, 2, 3
,},
SHENG Zihao^{1, 2, 3
,},
XUE Shibei^{1, 2, 3
,}

1.
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
2.
Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China
3.
Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai 200240, China

Funds: This work was supported by the National Natural Science Foundation of China (61873162, 61973317) and Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University, China (ICT2022B47)

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Author Bio:
Qi GUAN received the B.S. degree in measurement and control from Southeast University, Nanjing, China, in 2019. She is currently pursuing the M.S. degree in control engineering with Shanghai Jiao Tong University, Shanghai, China. Her research interests are 6D pose estimation and real-time application in deep learning. (Email: qiguan@sjtu.edu.cn)

Zihao SHENG received the B.S. degree in automation from Xi’an Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the M.S. degree in control engineering with Shanghai Jiao Tong University, Shanghai, China. His research interests include intelligent transportation systems, autonomous driving, and intelligent control. (Email: zihaosheng@sjtu.edu.cn)

Shibei XUE (corresponding author) received the Ph.D. degree in control science and engineering from Tsinghua University, Beijing, China, in 2013. From 2014 to 2016, he was a PostDoctoral Researcher with the University of New South Wales, Canberra, ACT, Australia, and then, he worked as a PostDoctoral Researcher with the Department of Physics, Taiwan Cheng Kung University, Tainan, China. In July 2017, he joined Shanghai Jiao Tong University, Shanghai, China, where he is currently an Associate Professor with the Department of Automation. He was selected for the Shanghai Pujiang Program funded by the Shanghai Science and Technology Committee in 2018. His research interests include quantum control, optimization and intelligent control of complex systems. (Email: shbxue@sjtu.edu.cn)
Received Date: 2021-06-16
Accepted Date: 2022-03-13

Available Online: 2022-07-19

Publish Date: 2023-01-05

Abstract

Abstract

Real-time six degrees-of-freedom (6D) object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network (HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.
- 6D pose estimation,
- Keypoint detection,
- Knowledge distillation,
- Lightweight model

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References(43)

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