Direct pose estimation networks aim to directly regress the 6D poses of target objects in the scene image using a neural network. These direct methods offer efficiency and an optimal optimization target, presenting significant potential for practical applications. However, due to the complex and implicit mappings between input features and target pose parameters, direct methods are challenging to train and prone to overfitting on mappings seen during training, resulting in limited effectiveness and generalization capability on unseen mappings. Existing methods focus primarily on improvements of the network architecture and training strategies, with less attention given to mappings. In this work, we propose a geometric constraints learning approach, which enables networks to explicitly capture and utilize the geometric mappings between inputs and optimization targets for pose estimation. Specifically, we introduce a residual pose transformation formula that preserves pose transformation constraints within both the 2D image plane and the 3D space while decoupling the absolute pose distribution, thereby addressing the pose distribution gap issue. We further design a Geo6D mechanism based on the formula, which enables the network to explicitly utilize geometric constraints for pose estimation by reconstructing the inputs and outputs. We select two different methods as our baseline and extensive experiments show that Geo6D enhances the performance and reduces the dependence on extensive training data, remaining effective even with only 10% of the typical data volume.

Uni6D is the first 6D pose estimation approach to employ a unified backbone network to extract features from both RGB and depth images. We discover that the principal reasons of Uni6D performance limitations are Instance-Outside and Instance-Inside noise. Uni6D’s simple pipeline design inherently introduces Instance-Outside noise from background pixels in the receptive field, while ignoring Instance-Inside noise in the input depth data. In this paper, we propose a two-step denoising approach for dealing with the aforementioned noise in Uni6D. To reduce noise from non-instance regions, an instance segmentation network is utilized in the first step to crop and mask the instance. A lightweight depth denoising module is proposed in the second step to calibrate the depth feature before feeding it into the pose regression network. Extensive experiments show that our Uni6Dv2 reliably and robustly eliminates noise, outperforming Uni6D without sacrificing too much inference efficiency. It also reduces the need for annotated real data that requires costly labeling.

The crux of semi-supervised semantic segmentation is to assign adequate pseudo-labels to the pixels of unlabeled images. A common practice is to select the highly confident predictions as the pseudo ground-truth, but it leads to a problem that most pixels may be left unused due to their unreliability. We argue that every pixel matters to the model training, even its prediction is ambiguous. Intuitively, an unreliable prediction may get confused among the top classes (i.e., those with the highest probabilities), however, it should be confident about the pixel not belonging to the remaining classes. Hence, such a pixel can be convincingly treated as a negative sample to those most unlikely categories. Based on this insight, we develop an effective pipeline to make sufficient use of unlabeled data. Concretely, we separate reliable and unreliable pixels via the entropy of predictions, push each unreliable pixel to a category-wise queue that consists of negative samples, and manage to train the model with all candidate pixels. Considering the training evolution, where the prediction becomes more and more accurate, we adaptively adjust the threshold for the reliable-unreliable partition. Experimental results on various benchmarks and training settings demonstrate the superiority of our approach over the state-of-the-art alternatives.11Project: https://haochen-wang409.github.io/U2PL.

Most of the recent image segmentation methods have tried to achieve the utmost segmentation results using large-scale pixel-level annotated data sets. However, obtaining these pixel-level annotated training data is usually tedious and expensive. In this work, we address the task of semisupervised semantic segmentation, which reduces the need for large numbers of pixel-level annotated images. We propose a method for semisupervised semantic segmentation by improving the confidence of the predicted class probability map via two parts. First, we build an adversarial framework that regards the segmentation network as the generator and uses a fully convolutional network as the discriminator. The adversarial learning makes the prediction class probability closer to 1. Second, the information entropy of the predicted class probability map is computed to represent the unpredictability of the segmentation prediction. Then, we infer the label-error map of the segmentation prediction and minimize the uncertainty on misclassified regions for unlabeled images. In contrast to existing semisupervised and weakly supervised semantic segmentation methods, the proposed method results in more confident predictions by focusing on the misclassified regions, especially the boundary regions. Our experimental results on the PASCAL VOC 2012 and PASCAL-CONTEXT data sets show that the proposed method achieves competitive segmentation performance.