RA6D: Reliability-Aware 6D Pose Estimation via Attention-Guided Point Cloud in Aerosol Environments

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Abstract
We address the problem of 6D object pose estimation in aerosol environments, where RGB and depth sensors experience correlated degradation due to scattering and absorption. Handling such spatially varying degradation typically requires depth restoration, but obtaining ground-truth complete depth in aerosol conditions is prohibitively expensive. To overcome this limitation without relying on costly depth completion, we propose RA6D, a framework that integrates attention-guided reliability modeling with feature distillation. The attention map generated during RGB dehazing reflects aerosol distribution and provides a compact indicator of depth reliability. By embedding this attention as an additional feature in an Attention-Guided Point cloud (AGP), the network can adaptively respond to spatially varying degradation. In addition, to address the scarcity of aerosol-domain data, we employ clean-to-aerosol feature distillation, transferring robust representations learned under clean conditions. Experiments on aerosol benchmarks show that RA6D achieves higher accuracy and significantly faster inference than restoration-based pipelines, offering a practical solution for real-time robotic perception under severe visual degradation.
Funding Information
  • National Research Foundation of Korea (RS-2022-00144385)
  • Institute for Information and Communications Technology Promotion (IITP-2025-RS-2023-00254529)
  • Ministry of Trade, Industry and Energy (RS-2024-00421828)

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