Related papers: Domain Transfer for 3D Pose Estimation from Color …

Recent advances with Convolutional Networks (ConvNets) have shifted the bottleneck for many computer vision tasks to annotated data collection. In this paper, we present a geometry-driven approach to automatically collect annotations for…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

Domain adaptive pose estimation aims to enable deep models trained on source domain (synthesized) datasets produce similar results on the target domain (real-world) datasets. The existing methods have made significant progress by conducting…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

We propose Human Pose Models that represent RGB and depth images of human poses independent of clothing textures, backgrounds, lighting conditions, body shapes and camera viewpoints. Learning such universal models requires training images…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

We present a novel 3D pose refinement approach based on differentiable rendering for objects of arbitrary categories in the wild. In contrast to previous methods, we make two main contributions: First, instead of comparing real-world images…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

We study how well different types of approaches generalise in the task of 3D hand pose estimation under single hand scenarios and hand-object interaction. We show that the accuracy of state-of-the-art methods can drop, and that they fail…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

We consider the task of learning to estimate human pose in still images. In order to avoid the high cost of full supervision, we propose to use a diverse data set, which consists of two types of annotations: (i) a small number of images are…

Estimating 3D hand pose from 2D images is a difficult, inverse problem due to the inherent scale and depth ambiguities. Current state-of-the-art methods train fully supervised deep neural networks with 3D ground-truth data. However,…

Articulated hand pose estimation plays an important role in human-computer interaction. Despite the recent progress, the accuracy of existing methods is still not satisfactory, partially due to the difficulty of embedded high-dimensional…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

We propose a CNN-based approach for multi-camera markerless motion capture of the human body. Unlike existing methods that first perform pose estimation on individual cameras and generate 3D models as post-processing, our approach makes use…

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…

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…