Related papers: Deep ChArUco: Dark ChArUco Marker Pose Estimation
6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings.…
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…
Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…
We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…
Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…
In recent years, the widespread use of deep neural networks (DNNs) has facilitated great improvements in performance for computer vision tasks like image classification and object recognition. In most realistic computer vision applications,…
Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…
Being capable of estimating the pose of uncooperative objects in space has been proposed as a key asset for enabling safe close-proximity operations such as space rendezvous, in-orbit servicing and active debris removal. Usual approaches…
We propose to combine recent Convolutional Neural Networks (CNN) models with depth imaging to obtain a reliable and fast multi-person pose estimation algorithm applicable to Human Robot Interaction (HRI) scenarios. Our hypothesis is that…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
Despite significant recent progress, the best available computer vision algorithms still lag far behind human capabilities, even for recognizing individual discrete objects under various poses, illuminations, and backgrounds. Here we…
Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…
The challenges of learning a robust 6D pose function lie in 1) severe occlusion and 2) systematic noises in depth images. Inspired by the success of point-pair features, the goal of this paper is to recover the 6D pose of an object instance…
Vision-based monocular human pose estimation, as one of the most fundamental and challenging problems in computer vision, aims to obtain posture of the human body from input images or video sequences. The recent developments of deep…
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…
Monocular depth estimation and image deblurring are two fundamental tasks in computer vision, given their crucial role in understanding 3D scenes. Performing any of them by relying on a single image is an ill-posed problem. The recent…
In this paper, we present MultiPoseNet, a novel bottom-up multi-person pose estimation architecture that combines a multi-task model with a novel assignment method. MultiPoseNet can jointly handle person detection, keypoint detection,…
Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…
6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…
Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…