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In this paper, we propose an end-to-end trainable regression approach for human pose estimation from still images. We use the proposed Soft-argmax function to convert feature maps directly to joint coordinates, resulting in a fully…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…

UV map estimation is used in computer vision for detailed analysis of human posture or activity. Previous methods assign pixels to body model vertices by comparing pixel descriptors independently, without enforcing global coherence or…

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.…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

Most recent approaches to monocular 3D human pose estimation rely on Deep Learning. They typically involve regressing from an image to either 3D joint coordinates directly or 2D joint locations from which 3D coordinates are inferred. Both…

The goal of this paper is to advance the state-of-the-art of articulated pose estimation in scenes with multiple people. To that end we contribute on three fronts. We propose (1) improved body part detectors that generate effective…

In this paper, we address the problem of detecting unseen objects from RGB images and estimating their poses in 3D. We propose two mobile friendly networks: MobilePose-Base and MobilePose-Shape. The former is used when there is only pose…

Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…

Human beings rely heavily on estimation of poses in order to access their body movements. Human pose estimation methods take advantage of computer vision advances in order to track human body movements in real life applications. This comes…

This paper considers the task of articulated human pose estimation of multiple people in real world images. We propose an approach that jointly solves the tasks of detection and pose estimation: it infers the number of persons in a scene,…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…