The six-dimensional (6-D) pose estimation of smooth metal parts is a common and important task in intelligent manufacturing. Computer-aided design (CAD)-based monocular vision methods offer more advantages than those offered by other methods. However, they are subject to several drawbacks such as high complexity, low robustness, and unsatisfactory accuracy, which hinder their application in industry. In this paper, a new approach with corresponding practical algorithms is proposed to solve these problems. The proposed approach uses high-level geometric features and the correlation of straight contours, to represent the part. Moreover, it exploits the matched special location points on the geometric features, which are the endpoints of the straight contours, to accurately estimate the 6-D pose. Practical algorithms based on the modification of the existing line-feature descriptors are proposed to implement the approach. The experimental results revealed that the proposed approach and algorithms can achieve higher accuracy and robustness with fewer templates.

中文翻译：

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使用单目相机对金属零件进行基于稀疏模板的 6 维姿态估计


光滑金属零件的六维（6-D）位姿估计是智能制造中常见且重要的任务。基于计算机辅助设计 (CAD) 的单目视觉方法比其他方法具有更多优势。然而，它们存在复杂性高、鲁棒性低、精度不理想等缺点，阻碍了它们在工业中的应用。本文提出了一种新的方法和相应的实用算法来解决这些问题。所提出的方法使用高级几何特征和直线轮廓的相关性来表示零件。此外，它利用几何特征上匹配的特殊位置点（直线轮廓的端点）来准确估计 6 维姿态。提出了基于现有线特征描述符修改的实用算法来实现该方法。实验结果表明，所提出的方法和算法可以用更少的模板实现更高的准确性和鲁棒性。