Feature Mapping for 3D Pose Estimation

Feature Mapping

with Feature Mapping:
w/o Feature Mapping:


About Feature Mapping


Feature Mapping is a simple and efficient method for exploiting synthetic images when training a Deep Network to predict a 3D pose from an image. The ability of using synthetic images for training a Deep Network is extremely valuable as it is easy to create a virtually infinite training set made of such images, while capturing and annotating real images can be very cumbersome. 

 This work is funded by This work was supported by the Christian Doppler Laboratory for Semantic 3D Computer Vision, funded in part by Qualcomm Inc.

Technical Description

Given a real image of the target object, we first compute the features for the image, map them to the feature space of synthetic images, and finally use the resulting features as input to another network which predicts the 3D pose. Since this network can be trained very effectively by using synthetic images, it performs very well in practice, and inference is faster and more accurate than with an exemplar-based approach. We demonstrate our approach on the LINEMOD dataset for 3D object pose estimation from color images. We show that it allows us to outperform the state-of-the-art on the LINEMOD dataset. 


Metric Brachmann et al. BB8 SSD-6D Ours
2D Projection 73.7 91.8 - 95.4
6D Pose 50.2 70.1 76.6 78.7
5cm 5deg 40.6 73.3 - 80.1

We also demonstrate our feature mapping on the NYU dataset for 3D hand pose estimation from depth maps. By using our approach, we achieve an error of 7.4mm, which improves the state-of-the-art by 4.9mm or almost 40%.

Method Average 3D error
Neverova et al. 14.9mm
Crossing Nets 15.5mm
Lie-X 14.5mm
REN 13.4mm
DeepPrior++ 12.3mm
Feedback 16.2mm
Hand3D 17.6mm
DISCO 20.7mm
DeepModel 16.9mm
Synthetic only 21.1mm
Ours 7.4mm



Our results: Each line is the estimated hand pose of a frame. The pose is parametrized by the locations of the joints in (u, v, d) coordinates, ie image coordinates and depth. The coordinates of each joint are stored in sequential order.


Feature Mapping for Learning Fast and Accurate 3D Pose Inference from Synthetic Images
Mahdi RadMarkus Oberweger, and Vincent Lepetit
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2018

Team Lepetit


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