RCV(Radial Keypoint Voting) Pose

Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting Yangzheng Wu, Mohsen Zand, Ali Etemad, Michael Greenspan ECCV 2022

Updates

Liam Salass has commited to the most recent updates and this is a special thanks to him!

RCVPose can be trained without the pre-generation of radii maps, just simply run the train script directly.

To avoid issues of ckpts trained on multiple GPUs, pre-trained radii maps are now provided for testing.

Prior to Usage

In order to use this repo, the environement and datasets need to be prepared and downloaded.

The code has been run and tested on both Windows(10,11) and Linux(Ubuntu 22.04), not Mac OS.

Dependencies

Install PyTorch prior to other python packages:

Follow the official installation guidance of PyTorch and Nvidia, and install the compatibale version of both cuda and PyTorch for the GPU.

Install the rest dependencies by using conda:

conda env create -f environment.yml
conda activate rcvpose

LINEMOD Dataset

Download LINEMOD and Occlusion_LINEMOD.

Download dispersed keypoints and train/test split and unzip it into LINEMOD root, there should exist a 'Outside9.npy' file once finished.

Radial Map Generation

In order to train the network, radial maps are required as the GT label and they can be generated by running:

python 3DRadius.py

Based on our experiments, three keypoints are sufficient enough for optimal performance. After the radial map generation is done, there should be a series of folders named Out_pt*_dm within each object's folder.

Training and Testing

The pre-trained models can be downloaded and tested directly without training. The ckpts can now work on any GPU configurtaions, if not, please raise an issue(Note that the checkpoints will only work when PyTorch data parallel is enabled.).

Train & Test

Train RCVPose

For training, simply run:

python main.py --root_dataset="PATHTODATA" --kpt_num='1' --mode=train --batch_size=32 --optim='Adam' --initial_lr=1e-4 --resume=False

The code is compatibale with multi-GPU training and it is fully automatic.

Track the training process by using Tensorboard:

tensorboard --logdir='PATHTOLOG'

Three networks are required to be trained before testing as RCVPose use one network for each keypoint. At the project root, create a 'ckpts' folder and save the best models there.

Test RCVPose

For testing, download pretrained radii, simply run:

python main.py --root_dataset="D:/Datasets/6dPoseData/LINEMOD/" --mode=test --demo-mode=False

For testing with ckpts on multiple GPU on a linux, run:

python main.py --root_dataset="D:/Datasets/6dPoseData/LINEMOD/" --mode=test --demo-mode=False --using_ckpts=True

Enable the demo mode if the visualization result is required.

Citation

If our work helps your work, we respectively ask for citations:

@inproceedings{wu2022vote,
      title = {Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting},
      author = {Wu, Yangzheng and Zand, Mohsen and Etemad, Ali and Greenspan, Michael},
      booktitle = {European Conference on Computer Vision (ECCV)},
      year = {2022},
      organization={Springer}
  }

Acknowledgement

This project is sponsored by Bluewrist Inc. and NESERC(Natural Sciences and Engineering Research Council of Canada).