Related papers: DR-Pose: A Two-stage Deformation-and-Registration …
Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…
While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…
Object pose estimation is an important component of most vision pipelines for embodied agents, as well as in 3D vision more generally. In this paper we tackle the problem of estimating the pose of novel object categories in a zero-shot…
Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…
Face recognition is a widely accepted biometric verification tool, as the face contains a lot of information about the identity of a person. In this study, a 2-step neural-based pipeline is presented for matching 3D facial shape to multiple…
Accurate 6D pose estimation for robotic harvesting is fundamentally hindered by the biological deformability and high intra-class shape variability of agricultural produce. Instance-level methods fail in this setting, as obtaining exact 3D…
We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…
A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…
Pose registration is critical in vision and robotics. This paper focuses on the challenging task of initialization-free pose registration up to 7DoF for homogeneous and heterogeneous measurements. While recent learning-based methods show…
In the area of 3D shape analysis, the geometric properties of a shape have long been studied. Instead of directly extracting representative features using expert-designed descriptors or end-to-end deep neural networks, this paper is…
Human pose estimation and tracking are fundamental tasks for understanding human behaviors in videos. Existing top-down framework-based methods usually perform three-stage tasks: human detection, pose estimation and tracking. Although…
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…
6D pose estimation is the task of predicting the translation and orientation of objects in a given input image, which is a crucial prerequisite for many robotics and augmented reality applications. Lately, the Transformer Network…
We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…
While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…
Most recent 6D object pose estimation methods, including unsupervised ones, require many real training images. Unfortunately, for some applications, such as those in space or deep under water, acquiring real images, even unannotated, is…
Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…
Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…
Misalignments between multi-modality images pose challenges in image fusion, manifesting as structural distortions and edge ghosts. Existing efforts commonly resort to registering first and fusing later, typically employing two cascaded…