Lokalizacija in ocenjevanje lege predmeta v treh prostostnih stopnjah s središčnimi smernimi vektorji

In this paper, we propose an approach to localize and estimate the pose of objects in three degrees of freedom (3-DOF). Our method is based on point localization combined with regression of the orientation angle for each detected object. We extend existing point localization method to estimate the orientation of all detected objects in an image. The orientation regression is parameterized with trigonometric functions, similar to the direction to the object center. We evaluate our method on the proposed screw dataset, composed of a training set containing synthetic images with photorealistic appearance and a test set containing real images of screws. Compared to the state-of-the-art 6-DOF position estimation method applied to the 3-DOF problem, our approach achieves comparable results at a significantly lower computational cost.