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3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose…

Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…

Estimating 3D hand meshes from single RGB images is challenging, due to intrinsic 2D-3D mapping ambiguities and limited training data. We adopt a compact parametric 3D hand model that represents deformable and articulated hand meshes. To…

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

While there has been a success in 2D human pose estimation with convolutional neural networks (CNNs), 3D human pose estimation has not been thoroughly studied. In this paper, we tackle the 3D human pose estimation task with end-to-end…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Most of the existing 3D human pose estimation approaches mainly focus on predicting 3D positional relationships between the root joint and other human joints (local motion) instead of the overall trajectory of the human body (global…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

Bottom-up human pose estimation methods have difficulties in predicting the correct pose for small persons due to challenges in scale variation. In this paper, we present HigherHRNet: a novel bottom-up human pose estimation method for…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

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…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Pose estimation is a crucial task in computer vision, with wide applications in autonomous driving, human motion capture, and virtual reality. However, existing methods still face challenges in achieving high accuracy, particularly in…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…