Related papers: PoseCompass: Intelligent Synthetic Pose Selection …
Markerless Mobile Augmented Reality (AR) aims to anchor digital content in the physical world without using specific 2D or 3D objects. Absolute Pose Regressors (APR) are end-to-end machine learning solutions that infer the device's pose…
Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have shown promise for efficient inference, they often struggle with…
Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…
Methods and datasets for human pose estimation focus predominantly on side- and front-view scenarios. We overcome the limitation by leveraging synthetic data and introduce RePoGen (RarE POses GENerator), an SMPL-based method for generating…
Pairwise camera pose estimation from sparsely overlapping image pairs remains a critical and unsolved challenge in 3D vision. Most existing methods struggle with image pairs that have small or no overlap. Recent approaches attempt to…
3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can…
In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…
This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to…
We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR. This framework enhances the localization accuracy of state-of-the-art absolute pose regression…
Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…
6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven…
This paper addresses the problem of cross-dataset generalization of 3D human pose estimation models. Testing a pre-trained 3D pose estimator on a new dataset results in a major performance drop. Previous methods have mainly addressed this…
Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…
Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…
This paper addresses the problem of 3D human pose estimation in the wild. A significant challenge is the lack of training data, i.e., 2D images of humans annotated with 3D poses. Such data is necessary to train state-of-the-art CNN…
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…
Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…
6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…
3D Gaussian Splatting has recently emerged as a powerful tool for fast and accurate novel-view synthesis from a set of posed input images. However, like most novel-view synthesis approaches, it relies on accurate camera pose information,…
Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…