The application discloses a six-degree-of-freedom object
pose estimation system, method and medium in an industrial scene, and the
system comprises a multi-
modal data preprocessing module, a shared
encoder feature extraction module, a contrast learning and attention fusion module, a
pose regression and rotation decoupling module and a
simulation-driven data enhancement module, the multi-
modal data preprocessing module is used for receiving and
processing original RGB images and depth maps, and through filtering denoising and
coordinate projection transformation based on camera parameters, an RGB-D data pair of pixel-level spatial alignment is output; the shared
encoder feature extraction module is used for extracting features from the aligned RGB-D data pair, and adaptively fusing through a channel attention mechanism to output a shared feature fused with appearance and geometric information. The application can improve the
estimation accuracy, the ADD index is improved by 12.8% and the
rotation error is reduced by 21.4% under a 70%
occlusion or reflection scene, and the application has strong robustness to depth
noise,
occlusion and reflection and strong practicability.