Related papers: FastPose-ViT: A Vision Transformer for Real-Time S…
In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…
Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…
We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…
The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…
Motion capture is facing some new possibilities brought by the inertial sensing technologies which do not suffer from occlusion or wide-range recordings as vision-based solutions do. However, as the recorded signals are sparse and quite…
As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…
Course estimation is a key component for the development of autonomous navigation systems for robots. While state-of-the-art methods widely use visual-based algorithms, it is worth noting that they all fail to deal with the complexity of…
Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…
While 6D object pose estimation has recently made a huge leap forward, most methods can still only handle a single or a handful of different objects, which limits their applications. To circumvent this problem, category-level object pose…
We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…
Vision Transformer (ViT) architectures are becoming increasingly popular and widely employed to tackle computer vision applications. Their main feature is the capacity to extract global information through the self-attention mechanism,…
Vision Transformers (ViT) have achieved remarkable success in large-scale image recognition. They split every 2D image into a fixed number of patches, each of which is treated as a token. Generally, representing an image with more tokens…
With the growing interest in on On-orbit servicing (OOS) and Active Debris Removal (ADR) missions, spacecraft poses estimation algorithms are being developed using deep learning to improve the precision of this complex task and find the…
In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…
State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…
This paper addresses the challenge of 6DoF pose estimation from a single RGB image under severe occlusion or truncation. Many recent works have shown that a two-stage approach, which first detects keypoints and then solves a…
Vision Transformer (ViT) demonstrates that Transformer for natural language processing can be applied to computer vision tasks and result in comparable performance to convolutional neural networks (CNN), which have been studied and adopted…
We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…
In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…