6D Pose Estimation

FFB6D is a full flow bidirectional fusion network for 6D pose estimation of known objects from a single RGBD image. Unlike previous works that extract the RGB and point cloud features independently and fuse them in the final stage, FFB6D builds bidirectional fusion modules as communication bridges in the full flow of the two networks. In this way, the two networks can obtain complementary information from the other and learn representations containing rich appearance and geometry information of the scene.