Related papers: A Pose Proposal and Refinement Network for Better …
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
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.…
Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…
Multi-person pose estimation in images and videos is an important yet challenging task with many applications. Despite the large improvements in human pose estimation enabled by the development of convolutional neural networks, there still…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
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…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…
Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…
Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…
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…
Accurately estimating the pose of an object is a crucial task in computer vision and robotics. There are two main deep learning approaches for this: geometric representation regression and iterative refinement. However, these methods have…
One major challenge for 3D pose estimation from a single RGB image is the acquisition of sufficient training data. In particular, collecting large amounts of training data that contain unconstrained images and are annotated with accurate 3D…
Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…
Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and…
State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…
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,…
6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…
Despite the progress of learning-based methods for 6D object pose estimation, the trade-off between accuracy and scalability for novel objects still exists. Specifically, previous methods for novel objects do not make good use of the target…
Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…