Here we introduce an approximated differentiable renderer to refine a 6-DoF pose prediction using only 2D alignment information. To this end, a two-branched convolutional encoder network is employed to jointly estimate the object class and its 6-DoF pose in the scene. We then propose a new formulation of an approximated differentiable renderer to re-project the 3D object on the image according to its predicted pose; in this way the alignment error between the observed and the re-projected object silhouette can be measured. Since the renderer is differentiable, it is possible to back-propagate through it to correct the estimated pose at test time in an online learning fashion. Eventually we show how to leverage the classification branch to profitably re-project a representative model of the predicted class (i.e. a medoid) instead. Each object in the scene is processed independently and novel viewpoints in which both objects arrangement and mutual pose are preserved can be rendered. Differentiable renderer code is available at:https://github.com/ndrplz/tensorflow-mesh-renderer.

End-to-end 6-DoF Object Pose Estimation through Differentiable Rasterization / Palazzi, Andrea; Bergamini, Luca; Calderara, Simone; Cucchiara, Rita. - (2019), pp. 702-715. ((Intervento presentato al convegno Second Workshop on 3D Reconstruction Meets Semantics (3DRMS) tenutosi a Munich, Germany nel 8 - 14 September 2018.

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