Related papers: Refining 6D Object Pose Predictions using Abstract…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

We introduce InverseFaceNet, a deep convolutional inverse rendering framework for faces that jointly estimates facial pose, shape, expression, reflectance and illumination from a single input image. By estimating all parameters from just a…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

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…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

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…

An emerging problem in computer vision is the reconstruction of 3D shape and pose of an object from a single image. Hitherto, the problem has been addressed through the application of canonical deep learning methods to regress from the…

Estimating the 3D shape of an object from a single or multiple images has gained popularity thanks to the recent breakthroughs powered by deep learning. Most approaches regress the full object shape in a canonical pose, possibly…

Inverse rendering, the process of inferring scene properties from images, is a challenging inverse problem. The task is ill-posed, as many different scene configurations can give rise to the same image. Most existing solutions incorporate…

3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

We propose a method to estimate 3D human poses from substantially blurred images. The key idea is to tackle the inverse problem of image deblurring by modeling the forward problem with a 3D human model, a texture map, and a sequence of…

A recent approach for object detection and human pose estimation is to regress bounding boxes or human keypoints from a central point on the object or person. While this center-point regression is simple and efficient, we argue that the…