Related papers: Multi-view shape estimation of transparent contain…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…

Transparent surfaces, such as glass, transmit most of the visible light that falls on them, making accurate pose estimation challenging. We propose a method to locate glass objects to millimetre accuracy using a simple Laser Range Finder…

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…

This paper proposes a new optical camouflage system that uses RGB-D cameras, for acquiring point cloud of background scene, and tracking observers eyes. This system enables a user to conceal an object located behind a display that…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…

Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…

This paper investigates how the inherent quantization of camera sensors introduces uncertainty in the calculated position of an observed feature during 3-D mapping. It is typically assumed that pixels and scene features are points, however,…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…

In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fixed frames of input data for a single detector, such as…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

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.…

Complete and textured 3D reconstruction of dynamic scenes has been facilitated by mapped RGB and depth information acquired by RGB-D cameras based multi-view systems. One of the most critical steps in such multi-view systems is to determine…

Color and intensity are two important components in an image. Usually, groups of image pixels, which are similar in color or intensity, are an informative representation for an object. They are therefore particularly suitable for computer…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…