Related papers: CylinderTag: An Accurate and Flexible Marker for C…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

Existing techniques to encode spatial invariance within deep convolutional neural networks only model 2D transformation fields. This does not account for the fact that objects in a 2D space are a projection of 3D ones, and thus they have…

Drag-based image editing enables intuitive visual manipulation through point-based drag operations. Existing methods mainly rely on diffusion inversion or pixel-space warping with inpainting. However, inversion inherently introduces…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…

Object Detection is the task of identifying the existence of an object class instance and locating it within an image. Difficulties in handling high intra-class variations constitute major obstacles to achieving high performance on standard…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…

Cylinder-shaped perfect lens deduced from the coordinate transformation method is proposed. The previously reported perfect slab lens is noticed to be a limiting form of the cylindrical lens when the inner radius approaches infinity with…

We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…

One of the strategies to detect the pose and shape of unknown objects is their geometric modeling, consisting on fitting known geometric entities. Classical geometric modeling fits simple shapes such as spheres or cylinders, but often those…

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…

Precision pose detection is increasingly demanded in fields such as personal fabrication, Virtual Reality (VR), and robotics due to its critical role in ensuring accurate positioning information. However, conventional vision-based systems…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…