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

This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple…

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…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Detecting and segmenting novel object instances in open-world environments is a fundamental problem in robotic perception. Given only a small set of template images, a robot must locate and segment a specific object instance in a cluttered,…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

Deep neural networks have shown outstanding performance in computer vision tasks such as semantic segmentation and have defined the state-of-the-art. However, these segmentation models are trained on a closed and predefined set of semantic…

This paper pushes the envelope on decomposing camouflaged regions in an image into meaningful components, namely, camouflaged instances. To promote the new task of camouflaged instance segmentation of in-the-wild images, we introduce a…

We present a temporal 6-DOF tracking method which leverages deep learning to achieve state-of-the-art performance on challenging datasets of real world capture. Our method is both more accurate and more robust to occlusions than the…

Classifying states as entangled or separable is a fundamental, but expensive task. This paper presents a method, the forest algorithm, to improve the amount of resources needed to detect entanglement. Starting from 'optimized' methods for…

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

Patch-level image representation is very important for object classification and detection, since it is robust to spatial transformation, scale variation, and cluttered background. Many existing methods usually require fine-grained…

Analyzing complex scenes with Deep Neural Networks is a challenging task, particularly when images contain multiple objects that partially occlude each other. Existing approaches to image analysis mostly process objects independently and do…

In recent years, estimating the 6D pose of object instances with convolutional neural network (CNN) has received considerable attention. Depending on whether intermediate cues are used, the relevant literature can be roughly divided into…

Clustering is a fundamental approach to understanding data patterns, wherein the intuitive Euclidean distance space is commonly adopted. However, this is not the case for implicit cluster distributions reflected by qualitative attribute…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

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…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

One of the major challenges in multi-person pose estimation is instance-aware keypoint estimation. Previous methods address this problem by leveraging an off-the-shelf detector, heuristic post-grouping process or explicit instance…