Weak6D: Weakly Supervised 6D Pose Estimation With Iterative Annotation Resolver

6D object pose estimation is an essential task in vision-based robotic grasping and manipulation. Prior works always train models with a large number of pose annotated images, limiting the efficiency of model transfer between different scenarios. This letter presents an end-to-end model named Weak6D, which could be learned with unannotated RGB-D data. The core of the proposed approach is the novel optimizing method Iterative Annotation Resolver, which has the ability to directly utilize the captured RGB-D data through the training process. Furthermore, we employ a weak refinement loss to optimize the pose estimation network with refined object poses. We evaluated the proposed Weak6D in the YCB-Video dataset, and experimental results show our model achieved practical results without annotated data.