Related papers: Object Pose Transformer: Unifying Unseen Object Po…

We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

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…

We tackle the problem of learning the geometry of multiple categories of deformable objects jointly. Recent work has shown that it is possible to learn a unified dense pose predictor for several categories of related objects. However,…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

Previous evaluations on 6DoF object pose tracking have presented obvious limitations along with the development of this area. In particular, the evaluation protocols are not unified for different methods, the widely-used YCBV dataset…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…