Coupled Iterative Refinement for 6D Multi-Object Pose Estimation

This repository contains the source code for our paper:

Coupled Iterative Refinement for 6D Multi-Object Pose Estimation
CVPR 2022
Lahav Lipson, Zachary Teed, Ankit Goyal and Jia Deng
Poster / Video

@inproceedings{lipson2022coupled,
  title={Coupled Iterative Refinement for 6D Multi-Object Pose Estimation},
  author={Lipson, Lahav and Teed, Zachary and Goyal, Ankit and Deng, Jia},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2022},
}

Getting Started

1. Clone the repo using the --recursive flag

git clone --recursive https://github.com/princeton-vl/coupled-iterative-refinement.git
cd coupled-iterative-refinement

2. Create a new anaconda environment using the provided .yaml file (requires an NVidia GPU)

conda env create -f environment.yaml
conda activate cir

Demos

To download a sample of YCB-V, T-LESS and LM-O (513Mb), run

chmod ug+x download_sample.sh && ./download_sample.sh

Download pretrained model weights (2.4Gb) by running

chmod ug+x download_model_weights.sh &&  ./download_model_weights.sh

or downloaded from google drive

To demo a trained model on any the bop datasets, run

python demo.py --obj_models ycbv --scene_dir sample_ycbv --load_weights model_weights/refiner/ycbv_rgbd.pth

Replace ycbv with tless or lmo in the above arguments to use a different dataset. sample_ycbv can be downloaded using ./download_sample.sh or replaced with the path to a BOP scene directory. The refiner forward pass take ~1.12s using the default settings. The demo saves images of the pose refinement to qualitative_output/, which can be flipped through using any image viewer.

To demo our RGB-only method, use --rgb_only and replace _rgbd.pth with _rgb.pth

Full Datasets (for training and/or evaluation)

To evaluate/train Coupled Iterative Refinement, you will need to download at least one of the core BOP datasets:

• LM (Linemod)
• LM-O (Linemod-Occluded)
• T-LESS
• MVTec ITODD
• HB (HomebrewedDB)
• YCB-V (YCB-Video)
• IC-BIN (Doumanoglou et al.)
• TUD-L (TUD Light)

To download and unzip any of the core BOP datasets, we provide a script:

python additional_scripts/download_datasets.py --bop_dataset ycbv --models ycbv

To download the Pascal VOC dataset used for background data-augmentation, run

python additional_scripts/download_datasets.py --augmentation_textures # Downloads VOC2012

By default bop.py will search for the datasets in these locations.

├── local_data
    ├── VOCdevkit
        ├── VOC2012
    ├── bop_datasets
        ├── hb
        ├── icbin
        ├── itodd
        ├── lm
        ├── lmo
        ├── tless
        ├── tudl
        ├── ycbv

Training

Our method is trained separately for each of the BOP datasets. To train the YCB-V refinement model, run

python train.py --dataset ycbv --batch_size 12 --num_inner_loops 10 --num_solver_steps 3

To train a refinement model on other BOP datasets, replace ycbv with one of the following: tless, lmo, hb, tudl, icbin, itodd

The above command runs on two NVIDIA RTX 3090s (48Gb GPU Memory). To use less memory, decrease batch_size, num_inner_loops or num_solver_steps.

Evaluation

To run our end-to-end pipeline to reproduce our results, run

python test.py --save_dir my_evaluation --dataset ycbv --load_weights model_weights/refiner/ycbv_rgbd.pth

This will deposit a .tar file in my_evaluation/. The evaluation is slow, but can be run in parallel for different portions of the test set using --start_index and --num_images, with each run depositing a separate .tar file in my_evaluation/. If using a slurm array job to distribute testing, these arguments will be automatically set.

To evaluate the predictions, run

python additional_scripts/run_bop20_eval.py --dataset ycbv --tar_dir my_evaluation

You can also evaluate a refiner model using random perturbations from the ground-truth pose (i.e. the validation setting) by using --evaluate

python train.py --dataset ycbv --evaluate --batch_size 2 --load_weights model_weights/refiner/ycbv_rgbd.pth

RGB-Only Variant

To use the RGB-Only models, use --rgb_only when running python train.py, python test.py or python demo.py

We provide trained RGB-only refiners for YCB-V, T-LESS and Linemod (Occluded) which can be loaded using --load_weights

Trained Refiner Models

BOP Submission	Input type	Training split	model
YCB-V (YCB-Video)	RGB-D	train_real x 1 + train_synt x 3	ycbv_rgbd.pth
T-LESS	RGB-D	train_pbr x 4 + train_primesense x 1	tless_rgbd.pth
LM-O (Linemod-Occluded)	RGB-D	train_pbr (Linemod)	lmo_rgbd.pth
HB (HomebrewedDB)	RGB-D	train_pbr	hb_rgbd.pth
IC-BIN (Doumanoglou et al.)	RGB-D	train_pbr	icbin_rgbd.pth
ITODD (MVTec ITODD)	RGB-D	train_pbr	itodd_rgbd.pth
TUD-L (TUD Light)	RGB-D	train_pbr x 3 + train_real x 4	tudl_rgbd.pth
YCB-V (YCB-Video)	RGB	train_real x 1 + train_synt x 3	ycbv_rgb.pth
T-LESS	RGB	train_pbr x 4 + train_primesense x 1	tless_rgb.pth
LM-O (Linemod-Occluded)	RGB	train_pbr (Linemod)	lmo_rgb.pth

The code for training the detectors and coarse models is available in the Cosypose Github. The training procedure is outlined at the bottom of Appendix A in their paper.

(Optional) Faster Implementation

We provide a faster CUDA implementation of the correlation sampler. The code will default to this implementation if it is compiled (requires an NVidia GPU to compile, takes ~3 min).

cd pose_models/modules && pip install . && cd - # Compiles corr_sampler

Acknowledgement

This repository makes extensive use of code from the Cosypose Github repository. We thank the authors for open sourcing their implementation.