Monocular 6D pose estimation is a functional task in the field of com-puter vision and robotics.In recent years,2D-3D correspondence-based methods have achieved improved performance in multiview and depth data-based s...Monocular 6D pose estimation is a functional task in the field of com-puter vision and robotics.In recent years,2D-3D correspondence-based methods have achieved improved performance in multiview and depth data-based scenes.However,for monocular 6D pose estimation,these methods are affected by the prediction results of the 2D-3D correspondences and the robustness of the per-spective-n-point(PnP)algorithm.There is still a difference in the distance from the expected estimation effect.To obtain a more effective feature representation result,edge enhancement is proposed to increase the shape information of the object by analyzing the influence of inaccurate 2D-3D matching on 6D pose regression and comparing the effectiveness of the intermediate representation.Furthermore,although the transformation matrix is composed of rotation and translation matrices from 3D model points to 2D pixel points,the two variables are essentially different and the same network cannot be used for both variables in the regression process.Therefore,to improve the effectiveness of the PnP algo-rithm,this paper designs a dual-branch PnP network to predict rotation and trans-lation information.Finally,the proposed method is verified on the public LM,LM-O and YCB-Video datasets.The ADD(S)values of the proposed method are 94.2 and 62.84 on the LM and LM-O datasets,respectively.The AUC of ADD(-S)value on YCB-Video is 81.1.These experimental results show that the performance of the proposed method is superior to that of similar methods.展开更多
PNP models with an arbitrary number of positively charged ion species and one negatively charged ion species are studied in this paper under the assumption that positively charged ion species have the same valence and...PNP models with an arbitrary number of positively charged ion species and one negatively charged ion species are studied in this paper under the assumption that positively charged ion species have the same valence and the permanent charge is a piecewise constant function. The permanent charge plays the key role in many functions of an ion channel, such as selectivity and gating. In this paper, using the geometric singular perturbation theory, a flux ratio independent of the permanent charge is proved.展开更多
基金This work was supported by the National Natural Science Foundation of China(No.61871196 and 62001176)the Natural Science Foundation of Fujian Province of China(No.2019J01082 and 2020J01085)the Promotion Program for Young and Middle-aged Teachers in Science and Technology Research of Huaqiao University(ZQN-YX601).
文摘Monocular 6D pose estimation is a functional task in the field of com-puter vision and robotics.In recent years,2D-3D correspondence-based methods have achieved improved performance in multiview and depth data-based scenes.However,for monocular 6D pose estimation,these methods are affected by the prediction results of the 2D-3D correspondences and the robustness of the per-spective-n-point(PnP)algorithm.There is still a difference in the distance from the expected estimation effect.To obtain a more effective feature representation result,edge enhancement is proposed to increase the shape information of the object by analyzing the influence of inaccurate 2D-3D matching on 6D pose regression and comparing the effectiveness of the intermediate representation.Furthermore,although the transformation matrix is composed of rotation and translation matrices from 3D model points to 2D pixel points,the two variables are essentially different and the same network cannot be used for both variables in the regression process.Therefore,to improve the effectiveness of the PnP algo-rithm,this paper designs a dual-branch PnP network to predict rotation and trans-lation information.Finally,the proposed method is verified on the public LM,LM-O and YCB-Video datasets.The ADD(S)values of the proposed method are 94.2 and 62.84 on the LM and LM-O datasets,respectively.The AUC of ADD(-S)value on YCB-Video is 81.1.These experimental results show that the performance of the proposed method is superior to that of similar methods.
文摘PNP models with an arbitrary number of positively charged ion species and one negatively charged ion species are studied in this paper under the assumption that positively charged ion species have the same valence and the permanent charge is a piecewise constant function. The permanent charge plays the key role in many functions of an ion channel, such as selectivity and gating. In this paper, using the geometric singular perturbation theory, a flux ratio independent of the permanent charge is proved.
基金Supported by the National Natural Science Foundation of China under Grant Nos.60375009 69975021 (国家自然科学基金) the National High-Tech Research and Development Plan of China under Grant No.2002AA422230 (国家高技术研究发展计划)
