Related papers: Video based Object 6D Pose Estimation using Transf…
Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and…
We propose a new method named OnePose for object pose estimation. Unlike existing instance-level or category-level methods, OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or…
This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…
Event cameras provide microsecond latency, making them suitable for 6D object pose tracking in fast, dynamic scenes where conventional RGB and depth pipelines suffer from motion blur and large pixel displacements. We introduce EventTrack6D,…
State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…
We propose a transformer-based neural network architecture for multi-object 3D reconstruction from RGB videos. It relies on two alternative ways to represent its knowledge: as a global 3D grid of features and an array of view-specific 2D…
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…
Video based fall detection accuracy has been largely improved due to the recent progress on deep convolutional neural networks. However, there still exists some challenges, such as lighting variation, complex background, which degrade the…
This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…
Pose transfer of human videos aims to generate a high fidelity video of a target person imitating actions of a source person. A few studies have made great progress either through image translation with deep latent features or neural…
Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…
Previous video-based human pose estimation methods have shown promising results by leveraging aggregated features of consecutive frames. However, most approaches compromise accuracy to mitigate jitter or do not sufficiently comprehend the…
6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…
The task of 6D object pose estimation from RGB images is an important requirement for autonomous service robots to be able to interact with the real world. In this work, we present a two-step pipeline for estimating the 6 DoF translation…
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…
In this paper, we propose an efficient end-to-end algorithm to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a fully convolutional network to regress the 3D rotation and the 3D…
In this paper we propose a technique for obtaining coarse pose estimation of humans in an image that does not require any manual supervision. While a general unsupervised technique would fail to estimate human pose, we suggest that…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…