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Point matching refers to the process of finding spatial transformation and correspondences between two sets of points. In this paper, we focus on the case that there is only partial overlap between two point sets. Following the approach of…

In this paper we study the problem of driving an agent to an unknown source whose location is estimated in real-time by a recursive optimization algorithm. The optimization criterion is subject to a least-square cost function constructed…

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…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

3D pose estimation is a key component of many important computer vision tasks such as autonomous navigation and 3D scene understanding. Most state-of-the-art approaches to 3D pose estimation solve this problem as a pose-classification…

Recently, regression-based methods have dominated the field of 3D human pose and shape estimation. Despite their promising results, a common issue is the misalignment between predictions and image observations, often caused by minor joint…

Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…

The recovery of multi-person 3D poses from a single RGB image is a severely ill-conditioned problem due to the inherent 2D-3D depth ambiguity, inter-person occlusions, and body truncations. To tackle these issues, recent works have shown…

Head pose estimation plays a vital role in various applications, e.g., driverassistance systems, human-computer interaction, virtual reality technology, and so on. We propose a novel geometry based algorithm for accurately estimating the…

Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…

Estimating the 6DoF pose of a novel object with a single reference view is challenging due to occlusions, view-point changes, and outliers. A core difficulty lies in finding robust cross-view correspondences, as existing methods often rely…

This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction. We call this least-squares problem…

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…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

This paper is about minimum cost constrained selection of inputs and outputs for generic arbitrary pole placement. The input-output set is constrained in the sense that the set of states that each input can influence and the set of states…

We propose a novel algorithm for the fitting of 3D human shape to images. Combining the accuracy and refinement capabilities of iterative gradient-based optimization techniques with the robustness of deep neural networks, we propose a…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

We propose a differentiable nonlinear least squares framework to account for uncertainty in relative pose estimation from feature correspondences. Specifically, we introduce a symmetric version of the probabilistic normal epipolar…

Accurate and real-time three-dimensional (3D) pose estimation is challenging in resource-constrained and dynamic environments owing to its high computational complexity. To address this issue, this study proposes a novel cooperative…