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

We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant…

Fall detection holds immense importance in the field of healthcare, where timely detection allows for instant medical assistance. In this context, we propose a 3D ConvNet architecture which consists of 3D Inception modules for fall…

Computer vision-based deep learning object detection algorithms have been developed sufficiently powerful to support the ability to recognize various objects. Although there are currently general datasets for object detection, there is…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

In this paper, we propose a novel approach to enhance the 3D body pose estimation of a person computed from videos captured from a single wearable camera. The key idea is to leverage high-level features linking first- and third-views in a…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

In robotic bin-picking applications, the perception of texture-less, highly reflective parts is a valuable but challenging task. The high glossiness can introduce fake edges in RGB images and inaccurate depth measurements especially in…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

We present a first of its kind dataset of overhead imagery for development and evaluation of forensic tools. Our dataset consists of real, fully synthetic and partially manipulated overhead imagery generated from a custom diffusion model…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Despite considerable efforts to enhance the generalization of 3D pose estimators without costly 3D annotations, existing data augmentation methods struggle in real world scenarios with diverse human appearances and complex poses. We propose…

Saliency modeling has been an active research area in computer vision for about two decades. Existing state of the art models perform very well in predicting where people look in natural scenes. There is, however, the risk that these models…

We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Computer vision technologies markedly enhance the automation capabilities of robotic-assisted minimally invasive surgery (RAMIS) through advanced tool tracking, detection, and localization. However, the limited availability of comprehensive…

3D human pose estimation is a challenging task because of the difficulty to acquire ground-truth data outside of controlled environments. A number of further issues have been hindering progress in building a universal and robust model for…

Perception is the main bottleneck to perform autonomous mobile manipulation tasks, especially in cluttered and unstructured environment. In this paper, we propose a novel two-stage paradigm that leverage both CNN object prior and generative…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…