ONDA-Pose: Occlusion-Aware Neural Domain Adaptation for Self-Supervised 6D Object Pose Estimation
Bibliographic record
Abstract
Self-supervised 6D object pose estimation has received increasing attention in computer vision recently. Some typical works in literature attempt to translate the synthetic images with object pose labels generated by object CAD models into the real domain, and then use the translated data for training. However, their performance is generally limited, since (i) there still exists a domain gap between the translated images and the real images and (ii) the translated images can not sufficiently reflect occlusions that exist in many real images. To address these problems, we propose an Occlusion-Aware Neural Domain Adaptation method for self-supervised 6D object Pose estimation, called ONDA-Pose. The proposed method comprises three main steps. Firstly, by utilizing both the training real images without pose labels and a CAD model, we explore a CAD-like radiance field for rendering corresponding synthetic images that have similar textures to those generated by the CAD model. Then, a backbone pose estimator trained on the synthetic data is employed to provide initial pose estimations for the synthetic images rendered from the CAD-like radiance field, and the initial object poses are refined by a global object pose refiner to generate pseudo object pose labels. Finally, the backbone pose estimator is further self-supervised as the final pose estimator by jointly utilizing the real images with pseudo object pose labels and the synthetic images rendered from the CAD-like radiance field. Experimental results on three public datasets demonstrate that ONDA-Pose significantly outperforms the comparative state-of-the-art methods in most cases.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".