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6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

The estimation of the orientation of an observed vehicle relative to an Autonomous Vehicle (AV) from monocular camera data is an important building block in estimating its 6 DoF pose. Current Deep Learning based solutions for placing a 3D…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

Following the successful application of deep convolutional neural networks to 2d human pose estimation, the next logical problem to solve is 3d human pose estimation from monocular images. While previous solutions have shown some success,…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

3D human pose estimation from monocular images is a highly ill-posed problem due to depth ambiguities and occlusions. Nonetheless, most existing works ignore these ambiguities and only estimate a single solution. In contrast, we generate a…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Existing object pose estimation datasets are related to generic object types and there is so far no dataset for fine-grained object categories. In this work, we introduce a new large dataset to benchmark pose estimation for fine-grained…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Light has many properties that vision sensors can passively measure. Colour-band separated wavelength and intensity are arguably the most commonly used for monocular 6D object pose estimation. This paper explores how complementary…

Accurate 3D human pose estimation from single images is possible with sophisticated deep-net architectures that have been trained on very large datasets. However, this still leaves open the problem of capturing motions for which no such…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…