Related papers: EfficientPose 6D: Scalable and Efficient 6D Object…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

This work investigates the problem of instance-level image retrieval re-ranking with the constraint of memory efficiency, ultimately aiming to limit memory usage to 1KB per image. Departing from the prevalent focus on performance…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

We introduce UPose3D, a novel approach for multi-view 3D human pose estimation, addressing challenges in accuracy and scalability. Our method advances existing pose estimation frameworks by improving robustness and flexibility without…

Object pose estimation is a fundamental problem in computer vision and plays a critical role in virtual reality and embodied intelligence, where agents must understand and interact with objects in 3D space. Recently, score based generative…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

The task of 6D object pose estimation from RGB images is an important requirement for autonomous service robots to be able to interact with the real world. In this work, we present a two-step pipeline for estimating the 6 DoF translation…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…

Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…