Fig. 1. ComPoseNet model. (a) ComPoseNet workflow; (b) preprocessing and ComPoseNet architecture; (c) image processing

Fig. 2. Effect of loss function

Fig. 3. Geometric rule diagrams. (a) Selection rule schematic; (b) distance d; (c) angle θ; (d) angle α

Fig. 4. Effects of different loss functions. (a) Original image; (b) traditional method; (c) proposed algorithm; (d) comparison

Fig. 5. Translation errors of different algorithms

Fig. 6. Angle errors of different algorithms

Fig. 7. Effects of pose estimation of different algorithms

Fig. 8. Effects of different parameters on translation error

Fig. 9. Effects of different parameters on angle error

Fig. 10. Estimation effect diagrams of different parameter constraints. (a) Object; (b) d; (c) d+θ; (d) d+α; (e) d+θ+α; (f) comparison

Fig. 11. Target detection effects. (a) Telephone; (b) duck; (c) iron; (d) drill