Search results for "PSNR"

OLF : RGB-D Adaptive Late Fusion for Robust 6D Pose Estimation

2023

RGB-D 6D pose estimation has recently gained significant research attention due to the complementary information provided by depth data. However, in real-world scenarios, especially in industrial applications, the depth and color images are often more noisy. Existing methods typically employ fusion designs that equally average RGB and depth features, which may not be optimal. In this paper, we propose a novel fusion design that adaptively merges RGB-D cues. Our approach involves assigning two learnable weight α 1 and α 2 to adjust the RGB and depth contributions with respect to the network depth. This enables us to improve the robustness against low-quality depth input in a simple yet effec…