Related papers: OPFormer: Object Pose Estimation leveraging founda…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

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…

Effectively preserving and encoding structure features from objects in irregular and sparse LiDAR points is a key challenge to 3D object detection on point cloud. Recently, Transformer has demonstrated promising performance on many 2D and…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

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…

Mesh denoising, aimed at removing noise from input meshes while preserving their feature structures, is a practical yet challenging task. Despite the remarkable progress in learning-based mesh denoising methodologies in recent years, their…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

We present Laneformer, a conceptually simple yet powerful transformer-based architecture tailored for lane detection that is a long-standing research topic for visual perception in autonomous driving. The dominant paradigms rely on purely…

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

Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Fortunately, the recent Segment Anything Model (SAM) has…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…