Related papers: CullNet: Calibrated and Pose Aware Confidence Scor…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…

We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

The existing human pose estimation methods are confronted with inaccurate long-distance regression or high computational cost due to the complex learning objectives. This work proposes a novel deep learning framework for human pose…

This work addresses the problem of estimating the full body 3D human pose and shape from a single color image. This is a task where iterative optimization-based solutions have typically prevailed, while Convolutional Networks (ConvNets)…

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,…

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…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

We introduce CGA-PoseNet, which uses the 1D-Up approach to Conformal Geometric Algebra (CGA) to represent rotations and translations with a single mathematical object, the motor, for camera pose regression. We do so starting from PoseNet,…

Category-level object pose estimation aims to recover the rotation, translation and size of unseen instances within predefined categories. In this task, deep neural network-based methods have demonstrated remarkable performance. However,…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Recently, several deep learning models have been proposed for 3D human pose estimation. Nevertheless, most of these approaches only focus on the single-person case or estimate 3D pose of a few people at high resolution. Furthermore, many…