相关论文: Generic 3D Representation via Pose Estimation and …

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

Human pose estimation from single images is a challenging problem that is typically solved by supervised learning. Unfortunately, labeled training data does not yet exist for many human activities since 3D annotation requires dedicated…

Deep Neural Networks can generalize despite being significantly overparametrized. Recent research has tried to examine this phenomenon from various view points and to provide bounds on the generalization error or measures predictive of the…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

We present a joint 3D pose and focal length estimation approach for object categories in the wild. In contrast to previous methods that predict 3D poses independently of the focal length or assume a constant focal length, we explicitly…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

Following the success of deep convolutional networks, state-of-the-art methods for 3d human pose estimation have focused on deep end-to-end systems that predict 3d joint locations given raw image pixels. Despite their excellent performance,…

Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…