DeepIM: Deep Iterative Matching for 6D Pose Estimation

Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang and Dieter Fox. In ECCV, 2018. arXiv, project page

This is an official MXNet implementation mainly developed and maintained by Yi Li and Gu Wang.

News (2020-12-04): A PyTorch implementation of DeepIM by Yu Xiang has been released (here)!

Citing DeepIM

If you find DeepIM useful in your research, please consider citing:

@inproceedings{li2018deepim,
title     = {DeepIM: Deep Iterative Matching for 6D Pose Estimation},
author    = {Yi Li and Gu Wang and Xiangyang Ji and Yu Xiang and Dieter Fox},
booktitle = {European Conference on Computer Vision (ECCV)},
year      = {2018}
}

Overall Framework

Network Structure

Zoom In Operation

Main Results

LINEMOD

Occlusion LINEMOD

Unseen Objects from ModelNet

The red and green lines represent the edges of 3D model projected from the initial poses and our refined poses respectively.

Requirements: Software

1. Python 2.7. We recommend using Anaconda. (python 3.x should also be OK.)

2. GLFW for OpenGL: sudo apt-get install libglfw3-dev libglfw3 (on Ubuntu 16.04)

3. Python packages might missing:

   conda install scipy
   pip install Cython
   pip install opencv-python
   pip install easydict
   pip install pyyaml
   pip install tqdm
   

   glumpy:

   pip install pyopengl packaging appdirs pyopengl triangle cython glfw
   # clone the lastest glumpy (there is a bug in the pip version)
   git clone https://github.com/glumpy/glumpy.git
   cd glumpy
   pip install .
   

4. MXNet from the official repository.

   Option 1: Use the prebuilt version following the installation guide..

   nvcc --version
   pip install mxnet-cu90 # (change to your cuda version)
   

   Option 2. Build MXNet from the source following the official manual:

   2.1 Clone MXNet and checkout to MXNet@(commit fc9e70b) by

   git clone --recursive https://github.com/dmlc/mxnet.git
   cd mxnet
   git checkout fc9e70b (optional)
   git submodule update (optional)
   

   or use the latest master directly (code is tested under mxnet 1.2.0).

   2.2 Compile MXNet

   cd ${MXNET_ROOT}
   make -j $(nproc) USE_OPENCV=1 USE_BLAS=openblas USE_CUDA=1 USE_CUDA_PATH=/usr/local/cuda USE_CUDNN=1
   

   2.3 Install the MXNet Python binding by

   Note: If you will actively switch between different versions of MXNet, please follow 2.4

   cd python
   sudo python setup.py install
   

   2.4 For advanced users, you may put your Python packge into ./external/mxnet/$(YOUR_MXNET_PACKAGE), and modify MXNET_VERSION in ./experiments/deepim/cfgs/*.yaml to $(YOUR_MXNET_PACKAGE). Thus you can switch among different versions of MXNet quickly.

5. Use tensorboard to visualize loss:

   Install mxboard following https://github.com/awslabs/mxboard#installation.

   pip install mxboard

Requirements: Hardware

Any NVIDIA GPUs with at least 4GB memory should be OK.

Installation

1. Clone the DeepIM repository, and we'll call the directory that you cloned mx-DeepIM as ${DeepIM_ROOT}.

git clone https://github.com/liyi14/mx-DeepIM.git

2. Initialize DeepIM:

   2.1 In the root directory of DeepIM, run sh init.sh to initialize the DeepIM project. (Note: For python3, need to install pytorch first to jit compile flow_c module.)

   2.2 (Optional) Delete the data folder and link (i.e. ln -sf) the root folder of data to ./data.

Preparation for Training & Testing

1. Prepare datasets, see ./toolkit/ and prepare_data.md for details.

   The datasets should be put in folder:

   ./data/
   

2. Please download FlowNet model manually from Google Drive or Baidu NetDisk (password: shga), and put it under folder ./model. Make sure it looks like this:

   ./model/pretrained_model/flownet-0000.params
   

Usage

1. All of our experiment settings (GPU, dataset, etc.) are kept in yaml config files at folder ./experiments/deepim/cfgs

2. To perform experiments, run the python scripts with the corresponding config file as input. For example, to train and test DeepIM models with pre-trained FlowNet, use the following command

   python experiments/deepim/deepim_train_test.py --cfg experiments/deepim/cfgs/your_cfg.yaml --gpus 0,1,2,3
   

   A cache folder would be created automatically to save the model and the log under output/deepim/. or you can just run the script like

   sh train_and_test_deepim_ape.sh
   

   to train and test the model only on category ape or run

   sh train_and_test_deepim_all.sh
   

   to train and test the model on all categories.

   Trained weights for LINEMOD and Occlusion LINEMOD can be found here, Google Drive.

3. Please find more details in config files and in our code.

Misc.

Code has been tested under:

• Ubuntu 14.04/16.04 with 4 GTX 1080Ti GPUs or a single GTX 1070 GPU