FusionNetV2: Explicit Enhancement of Edge Features for 6D Object Pose Estimation

FusionNet is a hybrid model that incorporates convolutional neural networks and Transformers, achieving state-of-the-art performance in 6D object pose estimation while significantly reducing the number of model parameters. Our study reveals that FusionNet has local and global attention mechanisms for enhancing deep features in two paths and the attention mechanisms play a role in implicitly enhancing features around object edges. We found that enhancing the features around object edges was the main reason for the performance improvement in 6D object pose estimation. Therefore, in this study, we attempt to enhance the features around object edges explicitly and intuitively. To this end, an edge boosting block (EBB) is introduced that replaces the attention blocks responsible for local attention in FusionNet. EBB is lightweight and can be directly applied to FusionNet with minimal modifications. EBB significantly improved the performance of FusionNet in 6D object pose estimation in experiments on the LINEMOD dataset.