Related papers: DIME-Net: Neural Network-Based Dynamic Intrinsic P…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

Because noise can interfere with downstream analysis, image denoising has come to occupy an important place in the image processing toolbox. The most accurate state-of-the-art denoisers typically train on a representative dataset. But…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Human pose estimation is a fundamental yet challenging task in computer vision. Although deep learning techniques have made great progress in this area, difficult scenarios (e.g., invisible keypoints, occlusions, complex multi-person…

This research addresses the challenge of camera calibration and distortion parameter prediction from a single image using deep learning models. The main contributions of this work are: (1) demonstrating that a deep learning model, trained…

In unmanned aerial systems, especially in complex environments, accurately detecting tiny objects is crucial. Resizing images is a common strategy to improve detection accuracy, particularly for small objects. However, simply enlarging…

Recent advances in neural camera imaging pipelines have demonstrated notable progress. Nevertheless, the real-world imaging pipeline still faces challenges including the lack of joint optimization in system components, computational…

We devise neuro-dynamic state estimation (Neuro-DSE), a learning-based dynamic state estimation (DSE) algorithm for networked microgrids (NMs) under unknown subsystems. Our contributions include: 1) a data-driven Neuro-DSE algorithm for NMs…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

We introduce UprightNet, a learning-based approach for estimating 2DoF camera orientation from a single RGB image of an indoor scene. Unlike recent methods that leverage deep learning to perform black-box regression from image to…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Deep learning has been widely used for solving image reconstruction tasks but its deployability has been held back due to the shortage of high-quality training data. Unsupervised learning methods, such as the deep image prior (DIP),…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Current deep neural network approaches for camera pose estimation rely on scene structure for 3D motion estimation, but this decreases the robustness and thereby makes cross-dataset generalization difficult. In contrast, classical…

Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…

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…