相关论文: Semi-Dense Visual Odometry for RGB-D Cameras Using…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

This paper reports on a novel formulation and evaluation of visual odometry from RGB-D images. Assuming a static scene, the developed theoretical framework generalizes the widely used direct energy formulation (photometric error…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Depth sensing is crucial for 3D reconstruction and scene understanding. Active depth sensors provide dense metric measurements, but often suffer from limitations such as restricted operating ranges, low spatial resolution, sensor…

Depth images captured by off-the-shelf RGB-D cameras suffer from much stronger noise than color images. In this paper, we propose a method to denoise the depth images in RGB-D images by color-guided graph filtering. Our iterative method…

A novel approach towards depth map super-resolution using multi-view uncalibrated photometric stereo is presented. Practically, an LED light source is attached to a commodity RGB-D sensor and is used to capture objects from multiple…

This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…

Mobile robots that manipulate their environments require high-accuracy scene understanding at close range. Typically this understanding is achieved with RGBD cameras, but the evaluation process for selecting an appropriate RGBD camera for…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…