Related papers: 6D Pose Estimation on Point Cloud Data through Pri…

Point cloud based 3D deep model has wide applications in many applications such as autonomous driving, house robot, and so on. Inspired by the recent prompt learning in natural language processing, this work proposes a novel Multi-view…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

The surface quality inspection of manufacturing parts based on 3D point cloud data has attracted increasing attention in recent years. The reason is that the 3D point cloud can capture the entire surface of manufacturing parts, unlike the…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

We propose a fast and accurate 6D object pose estimation from a RGB-D image. Our proposed method is template matching based and consists of three main technical components, PCOF-MOD (multimodal PCOF), balanced pose tree (BPT) and optimum…

We developed a robust solution for real-time 6D object detection in industrial applications by integrating FoundationPose, SAM2, and LightGlue, eliminating the need for retraining. Our approach addresses two key challenges: the requirement…

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Real-world scenarios pose several challenges to deep learning based computer vision techniques despite their tremendous success in research. Deeper models provide better performance, but are challenging to deploy and knowledge distillation…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

This paper presents a parameter-efficient prompt tuning method, named PPT, to adapt a large multi-modal model for 3D point cloud understanding. Existing strategies are quite expensive in computation and storage, and depend on time-consuming…

3D part segmentation is an essential step in advanced CAM/CAD workflow. Precise 3D segmentation contributes to lower defective rate of work-pieces produced by the manufacturing equipment (such as computer controlled CNCs), thereby improving…

Pre-trained point cloud models have found extensive applications in 3D understanding tasks like object classification and part segmentation. However, the prevailing strategy of full fine-tuning in downstream tasks leads to large per-task…

In this work, we present FFB6D, a Full Flow Bidirectional fusion network designed for 6D pose estimation from a single RGBD image. Our key insight is that appearance information in the RGB image and geometry information from the depth image…