{"paper":{"title":"Uni6Dv2: Noise Elimination for 6D Pose Estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Guoqiang Jin, Jianqiu Chen, Liwei Wu, Mingshan Sun, Rui Zhao, Tianpeng Bao, Xiaoke Jiang, Ye Zheng","submitted_at":"2022-08-15T04:30:00Z","abstract_excerpt":"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 insta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.06416","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2208.06416/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}