Related papers: 3D Pose from Detections

We present an approach to estimate 3D poses of multiple people from multiple camera views. In contrast to the previous efforts which require to establish cross-view correspondence based on noisy and incomplete 2D pose estimations, we…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

In the rapidly advancing domain of computer vision, accurately estimating the poses of multiple individuals from various viewpoints remains a significant challenge, especially when reliability is a key requirement. This paper introduces a…

We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

In this work we propose an approach for estimating 3D human poses of multiple people from a set of calibrated cameras. Estimating 3D human poses from multiple views has several compelling properties: human poses are estimated within a…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

We investigate the problem of estimating the 3D shape of an object, given a set of 2D landmarks in a single image. To alleviate the reconstruction ambiguity, a widely-used approach is to confine the unknown 3D shape within a shape space…

Many real-world applications require the estimation of human body joints for higher-level tasks as, for example, human behaviour understanding. In recent years, depth sensors have become a popular approach to obtain three-dimensional…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

Human pose estimation from single images is a challenging problem that is typically solved by supervised learning. Unfortunately, labeled training data does not yet exist for many human activities since 3D annotation requires dedicated…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Following the success of deep convolutional networks, state-of-the-art methods for 3d human pose estimation have focused on deep end-to-end systems that predict 3d joint locations given raw image pixels. Despite their excellent performance,…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…

In this work we address the challenging problem of 3D human pose estimation from single images. Recent approaches learn deep neural networks to regress 3D pose directly from images. One major challenge for such methods, however, is the…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…