Related papers: GeoD: Consensus-based Geodesic Distributed Pose Gr…

3D Gaussian Splatting (3DGS) has demonstrated impressive novel view synthesis performance. While conventional methods require per-scene optimization, more recently several feed-forward methods have been proposed to generate pixel-aligned…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…

While generalizable 3D Gaussian splatting enables efficient, high-quality rendering of unseen scenes, it heavily depends on precise camera poses for accurate geometry. In real-world scenarios, obtaining accurate poses is challenging,…

We introduce CGA-PoseNet, which uses the 1D-Up approach to Conformal Geometric Algebra (CGA) to represent rotations and translations with a single mathematical object, the motor, for camera pose regression. We do so starting from PoseNet,…

The ability to estimate the 3D human shape and pose from images can be useful in many contexts. Recent approaches have explored using graph convolutional networks and achieved promising results. The fact that the 3D shape is represented by…

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.…

Reconstructing dynamic 3D scenes from monocular video has broad applications in AR/VR, robotics, and autonomous navigation, but often fails due to severe motion blur caused by camera and object motion. Existing methods commonly follow a…

This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Nowadays, Transformers and Graph Convolutional Networks (GCNs) are the prevailing techniques for 3D human pose estimation. However, Transformer-based methods either ignore the spatial neighborhood relationships between the joints when used…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

Network-based Global Navigation Satellite Systems (GNSS) underpin critical infrastructure and autonomous systems, yet typically rely on centralized processing hubs that limit scalability, resilience, and latency. Here we report a…

Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…

Stochastic Gradient Descent (SGD) is the key learning algorithm for many machine learning tasks. Because of its computational costs, there is a growing interest in accelerating SGD on HPC resources like GPU clusters. However, the…

Consensus optimization has received considerable attention in recent years. A number of decentralized algorithms have been proposed for {convex} consensus optimization. However, to the behaviors or consensus \emph{nonconvex} optimization,…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…