Related papers: iSPA-Net: Iterative Semantic Pose Alignment Networ…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Although point-based networks are demonstrated to be accurate for 3D point cloud modeling, they are still falling behind their voxel-based competitors in 3D detection. We observe that the prevailing set abstraction design for down-sampling…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

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…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

In this paper we introduce a novel method to estimate the head pose of people in single images starting from a small set of head keypoints. To this purpose, we propose a regression model that exploits keypoints computed automatically by 2D…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

Dense pixel-wise classification maps output by deep neural networks are of extreme importance for scene understanding. However, these maps are often partially inaccurate due to a variety of possible factors. Therefore, we propose to…

Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

Deep neural networks have achieved great success in many real-world applications, yet it remains unclear and difficult to explain their decision-making process to an end-user. In this paper, we address the explainable AI problem for deep…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Understanding 3D object shapes necessitates shape representation by object parts abstracted from results of instance and semantic segmentation. Promising shape representations enable computers to interpret a shape with meaningful parts and…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

To improve the generalization of 3D human pose estimators, many existing deep learning based models focus on adding different augmentations to training poses. However, data augmentation techniques are limited to the "seen" pose combinations…

Instance segmentation is a computer vision task where separate objects in an image are detected and segmented. State-of-the-art deep neural network models require large amounts of labeled data in order to perform well in this task. Making…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

Most instance segmentation models are not end-to-end trainable due to either the incorporation of proposal estimation (RPN) as a pre-processing or non-maximum suppression (NMS) as a post-processing. Here we propose a novel end-to-end…