相关论文: DeepIM: Deep Iterative Matching for 6D Pose Estima…

Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

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…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving…

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…

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…

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…

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…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

How can we effectively utilise the 2D monocular image information for recovering the 6D pose (6-DoF) of the visual objects? Deep learning has shown to be effective for robust and real-time monocular pose estimation. Oftentimes, the network…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…

We propose a simple and efficient method for exploiting synthetic images when training a Deep Network to predict a 3D pose from an image. The ability of using synthetic images for training a Deep Network is extremely valuable as it is easy…

In this paper, we proposed a pose estimation system based on rendered image training set, which predicts the pose of objects in real image, with knowledge of object category and tight bounding box. We developed a patch-based multi-class…

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained…

In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…