Related papers: Category-Level Pose Retrieval with Contrastive Fea…
The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Head-pose estimation has many applications, such as social event analysis, human-robot and human-computer interaction, driving assistance, and so forth. Head-pose estimation is challenging because it must cope with changing illumination…
Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…
Inter-person occlusion and depth ambiguity make estimating the 3D poses of monocular multiple persons as camera-centric coordinates a challenging problem. Typical top-down frameworks suffer from high computational redundancy with an…
Contrastive learning is commonly applied to self-supervised learning, and has been shown to outperform traditional approaches such as the triplet loss and N-pair loss. However, the requirement of large batch sizes and memory banks has made…
Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…
Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…
We study the problem of learning to assign a characteristic pose, i.e., scale and orientation, for an image region of interest. Despite its apparent simplicity, the problem is non-trivial; it is hard to obtain a large-scale set of image…
Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…
Multi-person pose estimation and tracking serve as crucial steps for video understanding. Most state-of-the-art approaches rely on first estimating poses in each frame and only then implementing data association and refinement. Despite the…
Occlusion is an omnipresent challenge in 3D human pose estimation (HPE). In spite of the large amount of research dedicated to 3D HPE, only a limited number of studies address the problem of occlusion explicitly. To fill this gap, we…
In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…
Encouraged by the success of contrastive learning on image classification tasks, we propose a new self-supervised method for the structured regression task of 3D hand pose estimation. Contrastive learning makes use of unlabeled data for the…
Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…
We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…
Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
Given two images, we can estimate the relative camera pose between them by establishing image-to-image correspondences. Usually, correspondences are 2D-to-2D and the pose we estimate is defined only up to scale. Some applications, aiming at…
In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…