Analysis of Image Enhancement Techniques in 6D Pose Estimation Approaches using RGB Images on Occluded Multiple Objects

Budi Nugroho, Nanik Suciati*, Chastine Fatichah

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study is related to 6D pose estimation, which enables smart technology to make decisions or respond automatically and precisely by identifying the location and orientation of target objects. More specifically, we focus on estimation using RGB images on occluded multiple objects, which opens up a large problem gap in existing methods. We use a state-of-the-art approach in the scope of this study, namely the EfficientPose method. In addition, we use the DPOD method to compare the experimental results. We analyze the effect of adding image enhancement techniques in the preprocessing stage on the performance of the methods. The experiment is conducted using a standard dataset, namely the LineMod-Occluded, to measure how well the proposed approach uses the ADD metric. The experimental results exhibit that addition of image enhancement techniques in the preprocessing phase affects the effectiveness of EfficientPose up to 0.39% and DPOD up to 1.06%. The histogram equalization technique has a negative effect (decreases method performance). Meanwhile, other techniques have a positive effect (increasing method performance). The EfficientPose method, which employs the gamma correction technique, demonstrated the best performance, with a mean ADD(-S) of 79.20%. Meanwhile, the DPOD method produces the best performance when using the CLAHE technique, with a mean ADD(-S) of 46.85%.

Original languageEnglish
Title of host publication2024 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publicationCollaborative Innovation: A Bridging from Academia to Industry towards Sustainable Strategic Partnership, ISITIA 2024 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7-12
Number of pages6
Edition2024
ISBN (Electronic)9798350378573
DOIs
Publication statusPublished - 2024
Event25th International Seminar on Intelligent Technology and Its Applications, ISITIA 2024 - Hybrid, Mataram, Indonesia
Duration: 10 Jul 202412 Jul 2024

Conference

Conference25th International Seminar on Intelligent Technology and Its Applications, ISITIA 2024
Country/TerritoryIndonesia
CityHybrid, Mataram
Period10/07/2412/07/24

Keywords

  • DPOD
  • EfficientPose
  • RGB image
  • and image enhancement
  • occluded multiple objects

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