Related papers: Rapid Pose Label Generation through Sparse Represe…
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…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled…
Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…
We proposed a new Convolution Neural Network implementation optimized for sparse 3D data inference. This implementation uses NanoVDB as the data structure to store the sparse tensor. It leaves a relatively small memory footprint while…
Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…
Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing methods for object pose estimation output a single 6D pose.…
Existing object pose estimation datasets are related to generic object types and there is so far no dataset for fine-grained object categories. In this work, we introduce a new large dataset to benchmark pose estimation for fine-grained…
6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…
6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…
Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…
We propose a novel method for learning representations of poses for 3D deformable objects, which specializes in 1) disentangling pose information from the object's identity, 2) facilitating the learning of pose variations, and 3)…
Convolutional neural networks (CNNs) perform well on problems such as handwriting recognition and image classification. However, the performance of the networks is often limited by budget and time constraints, particularly when trying to…
Inspired by the robustness and efficiency of sparse representation in sparse coding based image restoration models, we investigate the sparsity of neurons in deep networks. Our method structurally enforces sparsity constraints upon hidden…
Deep neural networks (DNNs) are powerful tools in computer vision tasks. However, in many realistic scenarios label noise is prevalent in the training images, and overfitting to these noisy labels can significantly harm the generalization…
Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…
This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…
Large Deep Neural Networks (DNNs) are often data hungry and need high-quality labeled data in copious amounts for learning to converge. This is a challenge in the field of medicine since high quality labeled data is often scarce. Data…
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…
We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…