ArrowPose: Segmentation, Detection, and 5 DoF Pose Estimation Network for Colorless Point Clouds
Year: 2025
Type: conference-paper
Abstract: This paper presents a fast detection and 5 DoF (Degrees of Freedom) pose estimation network for colorless point clouds. The pose estimation is calculated from center and top points of the object, predicted by the neural network. The network is trained on synthetic data, and tested on a benchmark dataset, where it demonstrates state-of-the-art performance and outperforms all colorless methods. The network is able to run inference in only 250 milliseconds making it usable in many scenarios. Project page with code at arrowpose.github.io
Author: Frederik Hagelskjær
Institution: University of Southern Denmark
Language: English
Subfield: Computational Mechanics
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Innovationsfonden
OpenAlex ID: W4413559380