相关论文: Latent-Class Hough Forests for 6 DoF Object Pose E…

Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…

Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions weaken the assumptions of traditional urban-centric…

In this paper, we tackle the problem of category-level 9D pose estimation in the wild, given a single RGB-D frame. Using supervised data of real-world 9D poses is tedious and erroneous, and also fails to generalize to unseen scenarios.…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Reliable large-scale data on the state of forests is crucial for monitoring ecosystem health, carbon stock, and the impact of climate change. Current knowledge of tree species distribution relies heavily on manual data collection in the…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

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.…

Forest stands are the fundamental units in forest management inventories, silviculture, and financial analysis within operational forestry. Over the past two decades, a common method for mapping stand borders has involved delineation…

Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

A human action can be seen as transitions between one's body poses over time, where the transition depicts a temporal relation between two poses. Recognizing actions thus involves learning a classifier sensitive to these pose transitions as…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC) based methods have been widely used to extract local…

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…

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…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…