Related papers: Pose Augmentation: Class-agnostic Object Pose Tran…
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…
Deep learning approaches to object detection have achieved reliable detection of specific object classes in images. However, extending a model's detection capability to new object classes requires large amounts of annotated training data,…
3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…
Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…
Image-based object pose estimation sounds amazing because in real applications the shape of object is oftentimes not available or not easy to take like photos. Although it is an advantage to some extent, un-explored shape information in 3D…
In this paper, we aim to improve the performance of a deep learning model towards image classification tasks, proposing a novel anchor-based training methodology, named \textit{Online Anchor-based Training} (OAT). The OAT method, guided by…
A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…
Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…
Despite excellent performance on stationary test sets, deep neural networks (DNNs) can fail to generalize to out-of-distribution (OoD) inputs, including natural, non-adversarial ones, which are common in real-world settings. In this paper,…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…
Object detection models perform well at localizing and classifying objects that they are shown during training. However, due to the difficulty and cost associated with creating and annotating detection datasets, trained models detect a…
We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…
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…
We present an approach to synthesize highly photorealistic images of 3D object models, which we use to train a convolutional neural network for detecting the objects in real images. The proposed approach has three key ingredients: (1) 3D…
In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…
Vision-based regression tasks, such as hand pose estimation, have achieved higher accuracy and faster convergence through representation learning. However, existing representation learning methods often encounter the following issues: the…
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…
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…
Multi-person pose estimation from a 2D image is an essential technique for human behavior understanding. In this paper, we propose a human pose refinement network that estimates a refined pose from a tuple of an input image and input pose.…