Related papers: Shape-biased Texture Agnostic Representations for …

Recent research has investigated the shape and texture biases of deep neural networks (DNNs) in image classification which influence their generalization capabilities and robustness. It has been shown that, in comparison to regular DNN…

In this work, we investigate \textit{texture learning}: the identification of textures learned by object classification models, and the extent to which they rely on these textures. We build texture-object associations that uncover new…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Current state-of-the-art 6d pose estimation is too compute intensive to be deployed on edge devices, such as Microsoft HoloLens (2) or Apple iPad, both used for an increasing number of augmented reality applications. The quality of AR is…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

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…

We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…

This paper starts by revealing a surprising finding: without any learning, a randomly initialized CNN can localize objects surprisingly well. That is, a CNN has an inductive bias to naturally focus on objects, named as Tobias ("The object…

Given the outstanding progress that convolutional neural networks (CNNs) have made on natural image classification and object recognition problems, it is shown that deep learning methods can achieve very good recognition performance on many…

Texture cues on 3D objects are key to compelling visual representations, with the possibility to create high visual fidelity with inherent spatial consistency across different views. Since the availability of textured 3D shapes remains very…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

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…

Current deep-learning models for object recognition are known to be heavily biased toward texture. In contrast, human visual systems are known to be biased toward shape and structure. What could be the design principles in human visual…

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…

Recent research has investigated the shape and texture biases of pre-trained deep neural networks (DNNs) in image classification. Those works test how much a trained DNN relies on specific image cues like texture. The present study shifts…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…