Related papers: Globally Optimal Pose from Orthographic Silhouette…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…

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

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

One major challenge in 3D reconstruction is to infer the complete shape geometry from partial foreground occlusions. In this paper, we propose a method to reconstruct the complete 3D shape of an object from a single RGB image, with…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…

The "lifting from 2D pose" method has been the dominant approach to 3D Human Pose Estimation (3DHPE) due to the powerful visual analysis ability of 2D pose estimators. Widely known, there exists a depth ambiguity problem when estimating…

Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

This paper looks into the problem of grasping region localization along with suitable pose from a cluttered environment without any a priori knowledge of the object geometry. This end-to-end method detects the handles from a single frame of…

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…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Recent advances in 3D human shape reconstruction from single images have shown impressive results, leveraging on deep networks that model the so-called implicit function to learn the occupancy status of arbitrarily dense 3D points in space.…

Many real-world applications require the estimation of human body joints for higher-level tasks as, for example, human behaviour understanding. In recent years, depth sensors have become a popular approach to obtain three-dimensional…

Human pose and shape (HPS) estimation with lensless imaging is not only beneficial to privacy protection but also can be used in covert surveillance scenarios due to the small size and simple structure of this device. However, this task…

Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…

This paper addresses the problem of 3D human pose estimation from a single image. We follow a standard two-step pipeline by first detecting the 2D position of the $N$ body joints, and then using these observations to infer 3D pose. For the…

Human shape estimation is an important task for video editing, animation and fashion industry. Predicting 3D human body shape from natural images, however, is highly challenging due to factors such as variation in human bodies, clothing and…