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In this paper, we propose a novel 3D graph convolution based pipeline for category-level 6D pose and size estimation from monocular RGB-D images. The proposed method leverages an efficient 3D data augmentation and a novel vector-based…
Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…
In recent years, a plethora of diverse methods have been proposed for 3D pose estimation. Among these, self-attention mechanisms and graph convolutions have both been proven to be effective and practical methods. Recognizing the strengths…
In this paper, we address the challenging task of estimating 6D object pose from a single RGB image. Motivated by the deep learning based object detection methods, we propose a concise and efficient network that integrate 6D object pose…
Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…
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,…
Existing monocular 3D pose estimation methods primarily rely on joint positional features, while overlooking intrinsic directional and angular correlations within the skeleton. As a result, they often produce implausible poses under joint…
The attention mechanism provides a sequential prediction framework for learning spatial models with enhanced implicit temporal consistency. In this work, we show a systematic design (from 2D to 3D) for how conventional networks and other…
This paper presents a novel approach to estimating the continuous six degree of freedom (6-DoF) pose (3D translation and rotation) of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional…
While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…
Existing lifting networks for regressing 3D human poses from 2D single-view poses are typically constructed with linear layers based on graph-structured representation learning. In sharp contrast to them, this paper presents Grid…
This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…
6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…
In this paper, a feature boosting network is proposed for estimating 3D hand pose and 3D body pose from a single RGB image. In this method, the features learned by the convolutional layers are boosted with a new long short-term…
Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…
Since the superiority of Transformer in learning long-term dependency, the sign language Transformer model achieves remarkable progress in Sign Language Recognition (SLR) and Translation (SLT). However, there are several issues with the…
Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…
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…