6D object pose estimation plays a crucial role in robot grasping and manipulation. However, the prevalent methods for 6D object pose estimation heavily rely on 6D annotated data to train deep neural networks, which poses challenges due to the difficulty in obtaining sufficient pose annotations. To address this limitation, this paper presents a self-supervised pose estimation method based on a novel pixelwise weighted dense fusion architecture. This method allows for direct learning from unannotated RGB-D data facilitated by an Iterative Annotation Resolver. Furthermore, a self-supervised pose refinement method based on joint loss is proposed to enhance the pose estimation accuracy. This refinement method employs a differentiable renderer to construct joint optimization constraints. The experimental results demonstrate that our approach achieves a level of pose estimation accuracy that closely rivals that of supervised methods.

Object pose estimation has extensive applications in various industrial scenarios. However, the heavy reliance on dense 6-D annotation and textured object models has become a significant obstacle to the widespread industrial application of 6-D object pose estimation methods. In this work, we presentSS-Pose, a self-supervised learning framework for estimating 6-D object poses without annotated 6-D data and textured model.SS-Poseproposes thecoordinate system datum reinitializerstage to dynamically establish a sequence-level pose representation datum, and thetemporal–spatial constraint resolvermodule to obtain the self-supervised learning target through interframe constraints. We introduce a one-shotcross-coordinate transformationthat establishes the relationship between the 6-D representation and the object poses, which can be further utilized in real-world tasks. We evaluated the proposedSS-Poseon the challenging YCB-Video dataset and texture-less T-LESS dataset. Our approach achieves competitive performance with significantly lower data dependency, making it suitable for visual perception in industrial applications.

SUMMARY: With the rapid development of DNA sequencing technology, increasing bacteria genome data enable the biologists to dig the evolutionary and genetic information of prokaryotic species from pan-genome sight. Therefore, the high-efficiency pipelines for pan-genome analysis are mostly needed. We have developed a new pan-genome analysis pipeline (PGAP), which can perform five analytic functions with only one command, including cluster analysis of functional genes, pan-genome profile analysis, genetic variation analysis of functional genes, species evolution analysis and function enrichment analysis of gene clusters. PGAP's performance has been evaluated on 11 Streptococcus pyogenes strains. AVAILABILITY: PGAP is developed with Perl script on the Linux Platform and the package is freely available from http://pgap.sf.net. CONTACT: [email protected]; [email protected] SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.