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

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

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…

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…

Translucency is prevalent in everyday scenes. As such, perception of transparent objects is essential for robots to perform manipulation. Compared with texture-rich or texture-less Lambertian objects, transparency induces significant…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

We propose a method for annotating images of a hand manipulating an object with the 3D poses of both the hand and the object, together with a dataset created using this method. Our motivation is the current lack of annotated real images for…

Existing methods for 3D-aware image synthesis largely depend on the 3D pose distribution pre-estimated on the training set. An inaccurate estimation may mislead the model into learning faulty geometry. This work proposes PoF3D that frees…

Learning meaningful and compact representations with disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art…

This paper introduces the Australian Supermarket Object Set (ASOS), a comprehensive dataset comprising 50 readily available supermarket items with high-quality 3D textured meshes designed for benchmarking in robotics and computer vision…

Injury analysis may be one of the most beneficial applications of deep learning based human pose estimation. To facilitate further research on this topic, we provide an injury specific 2D dataset for alpine skiing, covering in total 533…

3D pose estimation has recently gained substantial interests in computer vision domain. Existing 3D pose estimation methods have a strong reliance on large size well-annotated 3D pose datasets, and they suffer poor model generalization on…

Realtime multi-person 2D pose estimation is a key component in enabling machines to have an understanding of people in images and videos. In this work, we present a realtime approach to detect the 2D pose of multiple people in an image. The…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Learning based 6D object pose estimation methods rely on computing large intermediate pose representations and/or iteratively refining an initial estimation with a slow render-compare pipeline. This paper introduces a novel method we call…

For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images. We address this challenge by introducing Hypersim, a photorealistic synthetic dataset for holistic…

Computer vision has undergone a dramatic revolution in performance, driven in large part through deep features trained on large-scale supervised datasets. However, much of these improvements have focused on static image analysis; video…

Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale,…

Generating good quality and geometrically plausible synthetic images of humans with the ability to control appearance, pose and shape parameters, has become increasingly important for a variety of tasks ranging from photo editing, fashion…