Related papers: Pose Estimation of Vehicles Over Uneven Terrain
A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have as…
This paper addresses the problem of vehicle-mounted camera localization by matching a ground-level image with an overhead-view satellite map. Existing methods often treat this problem as cross-view image retrieval, and use learned deep…
Augmented reality aims to enrich our real world by inserting 3D virtual objects. In order to accomplish this goal, it is important that virtual elements are rendered and aligned in the real scene in an accurate and visually acceptable way.…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…
We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…
Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Its numerous applications make multi-human 3D pose estimation a remarkably impactful area of research. Nevertheless, assuming a multiple-view system composed of several regular RGB cameras, 3D multi-pose estimation presents several…
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…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
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…
3D human pose estimation involves reconstructing the human skeleton by detecting the body joints. Accurate and efficient solutions are required for several real-world applications including animation, human-robot interaction, surveillance,…
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…
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…
The common approach to 3D human pose estimation is predicting the body joint coordinates relative to the hip. This works well for a single person but is insufficient in the case of multiple interacting people. Methods predicting absolute…