相关论文: Falling Things: A Synthetic Dataset for 3D Object …

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…

The need for large annotated image datasets for training Convolutional Neural Networks (CNNs) has been a significant impediment for their adoption in computer vision applications. We show that with transfer learning an effective object…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Falls represent a significant cause of injury among the elderly population. Extensive research has been devoted to the utilization of wearable IMU sensors in conjunction with machine learning techniques for fall detection. To address the…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

Object 6DoF (6D) pose estimation is essential for robotic perception, especially in industrial settings. It enables robots to interact with the environment and manipulate objects. However, existing benchmarks on object 6D pose estimation…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

Recent advances in deep-learning based methods for image matching have demonstrated their superiority over traditional algorithms, enabling correspondence estimation in challenging scenes with significant differences in viewing angles,…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

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,…

The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…

Detecting impact where an individual makes contact with the ground within a fall event is crucial in fall detection systems, particularly for elderly care where prompt intervention can prevent serious injuries. The UP-Fall dataset, a key…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Object pose estimation is frequently achieved by first segmenting an RGB image and then, given depth data, registering the corresponding point cloud segment against the object's 3D model. Despite the progress due to CNNs, semantic…

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…