Pose alignment for different objects using affordance cues

In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.