Related papers: Robust Visual Localization in Compute-Constrained …

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…

The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

6DoF object pose estimation is fundamental to robotic grasp tasks. While recent learning-based methods achieve high accuracy, their computational demands hinder deployment on resource-constrained mobile platforms. In this work, we revisit…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

In urban environments for delivery robots, particularly in areas such as campuses and towns, many custom features defy standard road semantic categorizations. Addressing this challenge, our paper introduces a method leveraging Salient…

3D visual grounding involves finding a target object in a 3D scene that corresponds to a given sentence query. Although many approaches have been proposed and achieved impressive performance, they all require dense object-sentence pair…

With the emergence of service robots and surveillance cameras, dynamic face recognition (DFR) in wild has received much attention in recent years. Face detection and head pose estimation are two important steps for DFR. Very often, the pose…