App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 8

Pose estimation method for transparent laboratory consumables based on improved FFB6D framework

Xiao Zhaoyu
Ning Meng
Zhan Ziheng
Lu Wenxu
School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China
DOI: 10.19734/j.issn.1001-3695.2025.11.0484

Abstract

Transparent materials are sensitive to the optical properties and prone to depth loss and edge disappearance in depth sensor image acquisition, which affects the precision of RGB-D based 6D pose estimation. This issue is mitigated through an enhancement method referred to as TGE-Fusion (Transparent Gating-Edge Fusion) , utilizing the foundational architecture of FFB6D, which permits both the specification of depth reliability alongside implementing Edge Fusion. The TGE-Fusion method consists of two core modules: one is the Depth Gated Fusion (DGF) module, which adaptively adjusts the RGB-D fusion weights based on depth confidence to mitigate the negative effects of missing depth data. Meanwhile, an EEA increases geometric features via the enhancement of edges and improves feature representation of transparent objects. We evaluated TGE-Fusion on the ClearPose dataset. When setting the threshold to 10 cm, TGE-Fusion improves accuracy by 20.42% and ADD(-S) by 16.64%. . Also, it works well for the difficult situations, such as occluded scene or reflective surfaces, which further verifies its efficiency and robustness.

Foundation Support

国家重点研发计划(2022YFD2100304)
无锡市产业创新研究院先导预研项目(XD24001)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.11.0484
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 8

Publish History

[2026-04-09] Accepted Paper

Cite This Article

肖昭宇, 宁萌, 詹子恒, 等. 基于改进FFB6D的透明实验耗材位姿估计方法 [J]. 计算机应用研究, 2026, 43 (8). (2026-04-30). https://doi.org/10.19734/j.issn.1001-3695.2025.11.0484. (Xiao Zhaoyu, Ning Meng, Zhan Ziheng, et al. Pose estimation method for transparent laboratory consumables based on improved FFB6D framework [J]. Application Research of Computers, 2026, 43 (8). (2026-04-30). https://doi.org/10.19734/j.issn.1001-3695.2025.11.0484. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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