Related papers: FastPose-ViT: A Vision Transformer for Real-Time S…

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and…

On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Operational Numerical Weather Prediction (NWP) system relies on computationally expensive physics-based models. Recently, transformer models have shown remarkable potential in weather forecasting achieving state-of-the-art results. However,…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications. The state-of-the-art models for pose estimation are convolutional neural network (CNN)-based. Lately, Transformers, an architecture…

Accurately recovering 6D poses in densely packed industrial bin-picking environments remain a serious challenge, owing to occlusions, reflections, and textureless parts. We introduce a holistic depth-only 6D pose estimation approach that…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

This paper explores the feasibility of finding an optimal sub-model from a vision transformer and introduces a pure vision transformer slimming (ViT-Slim) framework. It can search a sub-structure from the original model end-to-end across…

Vision Transformer (ViT) has achieved excellent performance and demonstrated its promising potential in various computer vision tasks. The wide deployment of ViT in real-world tasks requires a thorough understanding of the societal impact…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…

The Vision Transformer (ViT) excels in accuracy when handling high-resolution images, yet it confronts the challenge of significant spatial redundancy, leading to increased computational and memory requirements. To address this, we present…

We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process.…

Removing noise from images is a challenging and fundamental problem in the field of computer vision. Images captured by modern cameras are inevitably degraded by noise which limits the accuracy of any quantitative measurements on those…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

6D pose estimation is the task of predicting the translation and orientation of objects in a given input image, which is a crucial prerequisite for many robotics and augmented reality applications. Lately, the Transformer Network…

The large pre-trained vision transformers (ViTs) have demonstrated remarkable performance on various visual tasks, but suffer from expensive computational and memory cost problems when deployed on resource-constrained devices. Among the…

The Vision Transformer (ViT) architecture has become widely recognized in computer vision, leveraging its self-attention mechanism to achieve remarkable success across various tasks. Despite its strengths, ViT's optimization remains…