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It is difficult for lightweight neural networks to produce accurate 6DoF pose estimation effects due to their accuracy being affected by scale changes. To solve this problem, we propose a method with good performance and robustness based on previous research. The enhanced PVNet-based method uses depth-wise convolution to build a lightweight network. In addition, coordinate attention and atrous spatial pyramid pooling are used to ensure accuracy and robustness. This method effectively reduces the network size and computational complexity and is a lightweight 6DoF pose estimation method based on monocular RGB images. Experiments on public datasets and self-built datasets show that the average ADD(-S) estimation accuracy and 2D projection index of the improved method are improved. For datasets with large changes in object scale, the estimation accuracy of the average ADD(-S) is greatly improved.
Wang et al. (Mon,) studied this question.