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The traditional estimation methods of space targets pose are based on artificial features to match the transformation relationship between the image and the object model. With the explosion of deep learning technology, the approach based on deep neural networks (DNN) has significantly improved the performance of pose estimation. However, the current methods still have problems such as complex calculation, low accuracy, and poor real-time performance. Therefore, a new pose estimation algorithm is proposed in this paper. Firstly, the mask image of the target is obtained by the instance segmentation algorithm, and its point cloud image is obtained based on a depth map combined with camera parameters. Finally, the correlation among points is established to realize the prediction of pose based on multi-modal feature fusion. Experimental results in the YCB-Video dataset show that the proposed algorithm can recognize complex images at a speed of about 24 images per second with an accuracy of more than 80%. In conclusion, the proposed algorithm can realize fast pose estimation for complex stacked objects and has strong stability for different objects.

Object detection and segmentation can improve the accuracy of image recognition, but traditional methods can only extract the shallow information of the target, so the performance of algorithms is subject to many limitations. With the development of neural network technology, semantic segmentation algorithms based on deep learning can obtain the category information of each pixel. However, the algorithm cannot effectively distinguish each object of the same category, so YOLOMask, an instance segmentation algorithm based on complementary fusion network, is proposed in this paper. Experimental results on public data sets COCO2017 show that the proposed fusion network can accurately obtain the category and location information of each instance and has good real-time performance.