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

Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

We present a novel end-to-end framework named as GSNet (Geometric and Scene-aware Network), which jointly estimates 6DoF poses and reconstructs detailed 3D car shapes from single urban street view. GSNet utilizes a unique four-way feature…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

In this work we investigate the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting. Our main contribution is a thorough evaluation of networks of increasing depth using an architecture…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Public cameras often have limited metadata describing their attributes. A key missing attribute is the precise location of the camera, using which it is possible to precisely pinpoint the location of events seen in the camera. In this…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…

This paper addresses the challenge of 3D human pose estimation from a single color image. Despite the general success of the end-to-end learning paradigm, top performing approaches employ a two-step solution consisting of a Convolutional…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

Traditional algorithms for compressive sensing recovery are computationally expensive and are ineffective at low measurement rates. In this work, we propose a data driven non-iterative algorithm to overcome the shortcomings of earlier…

Recent state-of-the-art performance on human-body pose estimation has been achieved with Deep Convolutional Networks (ConvNets). Traditional ConvNet architectures include pooling and sub-sampling layers which reduce computational…

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…