相关论文: PoseNet: A Convolutional Network for Real-Time 6-D…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

PoseNet can map a photo to the position where it is taken, which is appealing in robotics. However, training PoseNet requires full supervision, where ground truth positions are non-trivial to obtain. Can we train PoseNet without knowing the…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

Direct image-to-image alignment that relies on the optimization of photometric error metrics suffers from limited convergence range and sensitivity to lighting conditions. Deep learning approaches has been applied to address this problem by…

Novel view synthesis is a challenging problem in computer vision and robotics. Different from the existing works, which need the reference images or 3D models of the scene to generate images under novel views, we propose a novel paradigm to…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…

Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…

Human head pose estimation in images has applications in many fields such as human-computer interaction or video surveillance tasks. In this work, we address this problem, defined here as the estimation of both vertical (tilt/pitch) and…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

In this study, we present a pragmatic lightweight pose estimation model. Our model can achieve real-time predictions using low-power embedded devices. This system was found to be very accurate and achieved a 94.5% accuracy of SOTA HRNet…

Although deep neural networks have been widely applied to computer vision problems, extending them into multiview depth estimation is non-trivial. In this paper, we present MVDepthNet, a convolutional network to solve the depth estimation…

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…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

This work investigates the impact of the loss function on the performance of Neural Networks, in the context of a monocular, RGB-only, image localization task. A common technique used when regressing a camera's pose from an image is to…