Related papers: Aleatoric Uncertainty from AI-based 6D Object Pose…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

Deep neural network based learning approaches is widely utilized for image classification or object detection based problems with remarkable outcomes. Realtime Object state estimation of objects can be used to track and estimate the…

Uncertainty estimation bears the potential to make deep learning (DL) systems more reliable. Standard techniques for uncertainty estimation, however, come along with specific combinations of strengths and weaknesses, e.g., with respect to…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…

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…

Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…

Recent efforts in deploying Deep Neural Networks for object detection in real world applications, such as autonomous driving, assume that all relevant object classes have been observed during training. Quantifying the performance of these…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

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…

Vision-based deep learning perception fulfills a paramount role in robotics, facilitating solutions to many challenging scenarios, such as acrobatic maneuvers of autonomous unmanned aerial vehicles (UAVs) and robot-assisted high-precision…

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…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Recently, CNN object detectors have achieved high accuracy on remote sensing images but require huge labor and time costs on annotation. In this paper, we propose a new uncertainty-based active learning which can select images with more…

LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps or previous scans. However, ICP is prone to errors in…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

We propose an approach to predict the 3D shape and pose for the objects present in a scene. Existing learning based methods that pursue this goal make independent predictions per object, and do not leverage the relationships amongst them.…

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

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…

Camera localization, i.e., camera pose regression, represents an important task in computer vision since it has many practical applications such as in the context of intelligent vehicles and their localization. Having reliable estimates of…