Related papers: SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
Efficient and accurate object pose estimation is an essential component for modern vision systems in many applications such as Augmented Reality, autonomous driving, and robotics. While research in model-based 6D object pose estimation has…
In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…
State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…
Object detection is an essential and fundamental task in computer vision and satellite image processing. Existing deep learning methods have achieved impressive performance thanks to the availability of large-scale annotated datasets. Yet,…
Few-shot object detection (FSOD) aims to extract semantic knowledge from limited object instances of novel categories within a target domain. Recent advances in FSOD focus on fine-tuning the base model based on a few objects via…
Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…
A personalized model for scanpath prediction provides insights into the visual preferences and attention patterns of individual subjects. However, existing methods for training scanpath prediction models are data-intensive and cannot be…
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…
Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…
In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…
In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…
6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…
Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…