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In this paper, a lightweight 6D pose estimation method is proposed, which decomposes the pose estimation into a viewpoint and the in-plane rotation around the optical axis of the viewpoint, and the improved PointNet+\u2063+ network structure and two lightweight modules are used to construct a codebook, and the 6d pose estimation of the point cloud of the indoor objects is completed by building and querying the codebook. The model was trained on the ShapeNetV2 dataset, and reports the ADD-S metric validation on the YCB-Video and LineMOD datasets, reaching 97.0% and 94.6% respectively. The experiment shows that the model can be trained to estimate the 6d position and pose of the unknown object point cloud with lower computation and storage cost, and the model with fewer parameters and better real-time performance is superior to other high-recision methods.<\/jats:p>","DOI":"10.3233\/ida-230278","type":"journal-article","created":{"date-parts":[[2023,12,6]],"date-time":"2023-12-06T12:02:01Z","timestamp":1701864121000},"page":"961-972","source":"Crossref","is-referenced-by-count":1,"title":["A lightweight method of pose estimation for indoor object"],"prefix":"10.1177","volume":"28","author":[{"given":"Sijie","family":"Wang","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence, Chongqing University of Technology, Chongqing, China"}]},{"given":"Yifei","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China"}]},{"given":"Diansheng","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China"}]},{"given":"Jiting","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China"}]},{"given":"Xiaochuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Chongqing University of Technology, Chongqing, China"}]}],"member":"179","reference":[{"key":"10.3233\/IDA-230278_ref2","doi-asserted-by":"crossref","unstructured":"A.-T. 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