Related papers: Shape Prior Deformation for Categorical 6D Object …
Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…
This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…
It is difficult to precisely annotate object instances and their semantics in 3D space, and as such, synthetic data are extensively used for these tasks, e.g., category-level 6D object pose and size estimation. However, the easy annotations…
Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…
Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…
We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…
In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…
Estimating 6D poses and reconstructing 3D shapes of objects in open-world scenes from RGB-depth image pairs is challenging. Many existing methods rely on learning geometric features that correspond to specific templates while disregarding…
Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…
The 3D reconstruction of objects is a prerequisite for many highly relevant applications of computer vision such as mobile robotics or autonomous driving. To deal with the inverse problem of reconstructing 3D objects from their 2D…
This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…
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…
This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…
3D shape reconstruction from a single image is a highly ill-posed problem. Modern deep learning based systems try to solve this problem by learning an end-to-end mapping from image to shape via a deep network. In this paper, we aim to solve…
In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…
Scalable 6D pose estimation for rigid objects from RGB images aims at handling multiple objects and generalizing to novel objects. Building on a well-known auto-encoding framework to cope with object symmetry and the lack of labeled…
Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…
Category-level 6D pose estimation aims to predict the poses and sizes of unseen objects from a specific category. Thanks to prior deformation, which explicitly adapts a category-specific 3D prior (i.e., a 3D template) to a given object…