Related papers: PERCH 2.0 : Fast and Accurate GPU-based Perception…

Current human pose estimation systems focus on retrieving an accurate 3D global estimate of a single person. Therefore, this paper presents one of the first 3D multi-person human pose estimation systems that is able to work in real-time and…

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Despite progress in human motion capture, existing multi-view methods often face challenges in estimating the 3D pose and shape of multiple closely interacting people. This difficulty arises from reliance on accurate 2D joint estimations,…

Various deep learning techniques have been proposed to solve the single-view 2D-to-3D pose estimation problem. While the average prediction accuracy has been improved significantly over the years, the performance on hard poses with depth…

Neural Radiance Field (NeRF) has achieved substantial progress in novel view synthesis given multi-view images. Recently, some works have attempted to train a NeRF from a single image with 3D priors. They mainly focus on a limited field of…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

Tracking the 6DoF pose of unknown objects in monocular RGB video sequences is crucial for robotic manipulation. However, existing approaches typically rely on accurate depth information, which is non-trivial to obtain in real-world…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

In recent years, many works in the video action recognition literature have shown that two stream models (combining spatial and temporal input streams) are necessary for achieving state of the art performance. In this paper we show the…

While 6D object pose estimation has recently made a huge leap forward, most methods can still only handle a single or a handful of different objects, which limits their applications. To circumvent this problem, category-level object pose…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

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…

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,…

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…

In recent years, a plethora of diverse methods have been proposed for 3D pose estimation. Among these, self-attention mechanisms and graph convolutions have both been proven to be effective and practical methods. Recognizing the strengths…

The performance of human pose estimation depends on the spatial accuracy of keypoint localization. Most existing methods pursue the spatial accuracy through learning the high-resolution (HR) representation from input images. By the…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…