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Consider the problem of registering multiple point sets in some $d$-dimensional space using rotations and translations. Assume that there are sets with common points, and moreover the pairwise correspondences are known for such sets. We…
We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…
This paper presents a generalizable RGB-based approach for object pose estimation, specifically designed to address challenges in sparse-view settings. While existing methods can estimate the poses of unseen objects, their generalization…
This paper addresses the challenge of 3D human pose estimation from a single color image. Despite the general success of the end-to-end learning paradigm, top performing approaches employ a two-step solution consisting of a Convolutional…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
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…
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…
The optimization problem that arises out of the least median of squared residuals method in linear regression is analyzed. To simplify the analysis, the problem is replaced by an equivalent one of minimizing the median of absolute…
We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of…
This paper presents a comprehensive review on regression-based method for human pose estimation. The problem of human pose estimation has been intensively studied and enabled many application from entertainment to training. Traditional…
We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group…
A major challenge in single particle reconstruction from cryo-electron microscopy is to establish a reliable ab-initio three-dimensional model using two-dimensional projection images with unknown orientations. Common-lines based methods…
Inspired by regularization techniques in statistics and machine learning, we study complementary composite minimization in the stochastic setting. This problem corresponds to the minimization of the sum of a (weakly) smooth function endowed…
Many algorithms for the computation of correspondences between deformable shapes rely on some variant of nearest neighbor matching in a descriptor space. Such are, for example, various point-wise correspondence recovery algorithms used as a…
We propose a general convex optimization problem for computing regularized geodesic distances. We show that under mild conditions on the regularizer the problem is well posed. We propose three different regularizers and provide analytical…
Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…
The computation of the elastic shape registration of two simple surfaces in 3-dimensional space and therefore of the elastic shape distance between them has been investigated by Kurtek, Jermyn, et al. who have proposed algorithms to carry…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…