OTOT: An Online Training and Offline Testing System for 6D Object Pose Estimation

In this paper, we introduce a novel system to assist 6D object pose estimation network training, which is only deployed in the training progress to optimize the network parameters, and does not work in the testing stage, called Online training and offline testing system (OTOT). OTOT consists of two modules: a feature fusion module and a supervision module. The feature fusion module fuses several feature maps from the pose estimation network in a specified order to obtain a fused feature. Then, the supervision module uses the encoder-decoder structure network to implicitly extract useful features from the fused feature and optimizes the pose estimation network online through the back-propagation mechanism. OTOT can be migrated to any network with encoder-decoder structure. The network trained with OTOT achieves 56.11% accuracy in terms of the VSD metric on the TLESS dataset using RGB inputs, compared to the 46.70% accuracy of the original network trained without OTOT. Experiments show that OTOT greatly improves the accuracy of the pose estimation network, and since OTOT is not deployed in the testing stage, it does not increase any parameters during testing and affect the original speed of the network.