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In this paper, we propose a two-stage depth ranking based method (DRPose3D) to tackle the problem of 3D human pose estimation. Instead of accurate 3D positions, the depth ranking can be identified by human intuitively and learned using the…

Following the successful application of deep convolutional neural networks to 2d human pose estimation, the next logical problem to solve is 3d human pose estimation from monocular images. While previous solutions have shown some success,…

Deep learning methods have shown great promise in many practical applications, ranging from speech recognition, visual object recognition, to text processing. However, most of the current deep learning methods suffer from scalability…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy in stereo matching than traditional…

We introduce our method and system for face recognition using multiple pose-aware deep learning models. In our representation, a face image is processed by several pose-specific deep convolutional neural network (CNN) models to generate…

Monocular 3D human pose and shape estimation is an inherently ill-posed problem due to depth ambiguities, occlusions, and truncations. Recent probabilistic approaches learn a distribution over plausible 3D human meshes by maximizing the…

Dense pose estimation is a dense 3D prediction task for instance-level human analysis, aiming to map human pixels from an RGB image to a 3D surface of the human body. Due to a large amount of surface point regression, the training process…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

Despite excellent performance on stationary test sets, deep neural networks (DNNs) can fail to generalize to out-of-distribution (OoD) inputs, including natural, non-adversarial ones, which are common in real-world settings. In this paper,…

Modeling uncertainty in deep neural networks, despite recent important advances, is still an open problem. Bayesian neural networks are a powerful solution, where the prior over network weights is a design choice, often a normal…

Despite the success in 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects and real world scenarios. The primary bottlenecks include 1) the ambiguity…

Existing methods for estimating uncertainty in deep learning tend to require multiple forward passes, making them unsuitable for applications where computational resources are limited. To solve this, we perform probabilistic reasoning over…

Ubiquitous applications of Deep neural networks (DNNs) in different artificial intelligence systems have led to their adoption in solving challenging visualization problems in recent years. While sophisticated DNNs offer an impressive…

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…

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…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Estimation of the human pose from a monocular camera has been an emerging research topic in the computer vision community with many applications. Recently, benefited from the deep learning technologies, a significant amount of research…

Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…