Related papers: Shape-biased Texture Agnostic Representations for …
In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…
Convolutional Neural Networks (CNNs) have become the state-of-the-art method to learn from image data. However, recent research shows that they may include a texture and colour bias in their representation, contrary to the intuition that…
In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…
Convolutional Neural Networks (CNNs) are commonly thought to recognise objects by learning increasingly complex representations of object shapes. Some recent studies suggest a more important role of image textures. We here put these…
Recent work has indicated that, unlike humans, ImageNet-trained CNNs tend to classify images by texture rather than by shape. How pervasive is this bias, and where does it come from? We find that, when trained on datasets of images with…
Shape and texture are two prominent and complementary cues for recognizing objects. Nonetheless, Convolutional Neural Networks are often biased towards either texture or shape, depending on the training dataset. Our ablation shows that such…
Recent experiments in computer vision demonstrate texture bias as the primary reason for supreme results in models employing Convolutional Neural Networks (CNNs), conflicting with early works claiming that these networks identify objects…
This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…
Convolutional neural networks (CNNs) for image processing tend to focus on localized texture patterns, commonly referred to as texture bias. While most of the previous works in the literature focus on the task of image classification, we go…
Contrasting the previous evidence that neurons in the later layers of a Convolutional Neural Network (CNN) respond to complex object shapes, recent studies have shown that CNNs actually exhibit a `texture bias': given an image with both…
Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…
The convolutional neural network (CNN) learns the same object in different positions in images, which can improve the recognition accuracy of the model. An implication of this is that CNN may know where the object is. The usefulness of the…
Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D…
Convolutional Neural Networks (CNNs) excel at image classification but remain vulnerable to common corruptions that humans handle with ease. A key reason for this fragility is their reliance on local texture cues rather than global object…
Humans rely heavily on shape information to recognize objects. Conversely, convolutional neural networks (CNNs) are biased more towards texture. This is perhaps the main reason why CNNs are vulnerable to adversarial examples. Here, we…
Texture is a visual attribute largely used in many problems of image analysis. Currently, many methods that use learning techniques have been proposed for texture discrimination, achieving improved performance over previous handcrafted…
We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we…
Models trained on datasets with texture bias usually perform poorly on out-of-distribution samples since biased representations are embedded into the model. Recently, various image translation and debiasing methods have attempted to…