ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth (2408.13147v2)

Abstract: Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three unknowns, object pose, object shape, and model-to-measurement correspondences, are compounded together, but only a single view of depth measurements is provided. Most of the prior work heavily relies on data-driven approaches to obtain solutions to at least one of the unknowns, and typically two, running with the risk of failing to generalize to unseen domains. The shape representations used in the prior work also mainly focus on point cloud and signed distance field (SDF). In stark contrast to the prior work, we approach the problem using an iterative estimation method that does not require learning from pose-annotated data. In addition, we adopt a novel mesh-based object active shape model that the previous literature has not explored. Our algorithm, ShapeICP, is based on the iterative closest point (ICP) algorithm but is equipped with additional features for the category-level pose and shape estimation task. Although not using pose-annotated data, ShapeICP surpasses many data-driven approaches that rely on pose data for training, opening up a new solution space for researchers to consider.

• The paper introduces ShapeICP, an iterative framework that aligns depth data with category-level object models for robust pose and shape estimation.
• It leverages a modified ICP algorithm to manage intra-class variations and improve estimation accuracy in cluttered scenes.
• Empirical results demonstrate its potential for real-world applications in robotics, augmented reality, and automated 3D scene understanding.

Preparation of Papers for IEEE Sponsored Conferences & Symposia

The paper "Preparation of Papers for IEEE Sponsored Conferences & Symposia," authored by Albert Author and Bernard D. Researcher, provides a comprehensive overview of the formatting and submission guidelines necessary for preparing electronic versions of conference papers. This document is fundamentally a template with embedded instructions tailored to standardize submissions to IEEE conferences, and it aims for uniformity and compliance with IEEE's printing requirements.

Overview

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1. Ease of Use: Simplifying the formatting process for individual authors.
2. Compliance: Ensuring that submissions meet the electronic specifications required for seamless production of electronic and printed materials.
3. Style Conformity: Establishing a consistent visual and organizational style across all submissions within a conference proceeding.

Main Sections

Introduction

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Procedure for Paper Submission

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Drafting Equations

A specific section is dedicated to equations, advising on font choices (Times New Roman or Symbol), numbering conventions, and punctuation. It suggests treating complex equations as graphics to maintain the manuscript's integrity during conversion to PDF format.

Technical Instructions

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Common Mistakes and Best Practices

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Concluding Sections

• Using the Template: This section reinforces the importance of using the provided LaTeX source file (root.tex) and adhering to the style file to ensure correct margin settings and output file size.
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Implications and Potential Developments

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Conclusion

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