Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)

Tsu-Ching Hsiao, Hao-Wei Chen, Hsuan-Kung Yang, Chun-Yi Lee; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, pp. 352-362

Addressing pose ambiguity in 6D object pose estimation from single RGB images presents a significant challenge particularly due to object symmetries or occlusions. In response we introduce a novel score-based diffusion method applied to the SE(3) group marking the first application of diffusion models to SE(3) within the image domain specifically tailored for pose estimation tasks. Extensive evaluations demonstrate the method's efficacy in handling pose ambiguity mitigating perspective-induced ambiguity and showcasing the robustness of our surrogate Stein score formulation on SE(3). This formulation not only improves the convergence of denoising process but also enhances computational efficiency. Thus we pioneer a promising strategy for 6D object pose estimation.