相关论文: Computing CNN Loss and Gradients for Pose Estimati…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Existing skeleton-based 3D human pose estimation methods only predict joint positions. Although the yaw and pitch of bone rotations can be derived from joint positions, the roll around the bone axis remains unresolved. We present…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

We present E(3)-Pose, a novel fast pose estimation method that jointly and explicitly models rotation equivariance and object symmetry. Our work is motivated by the challenging problem of accounting for fetal head motion during a diagnostic…

We propose a new 2D pose refinement network that learns to predict the human bias in the estimated 2D pose. There are biases in 2D pose estimations that are due to differences between annotations of 2D joint locations based on annotators'…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

Extracting discriminative local features that are invariant to imaging variations is an integral part of establishing correspondences between images. In this work, we introduce a self-supervised learning framework to extract discriminative…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Detecting robust keypoints from an image is an integral part of many computer vision problems, and the characteristic orientation and scale of keypoints play an important role for keypoint description and matching. Existing learning-based…

This paper targets the task with discrete and periodic class labels ($e.g.,$ pose/orientation estimation) in the context of deep learning. The commonly used cross-entropy or regression loss is not well matched to this problem as they ignore…

Monocular 3D human pose and shape estimation is an inherently ill-posed problem due to depth ambiguities, occlusions, and truncations. Recent probabilistic approaches learn a distribution over plausible 3D human meshes by maximizing the…

In this work, we investigate the value of uncertainty modeling in 3D super-resolution with convolutional neural networks (CNNs). Deep learning has shown success in a plethora of medical image transformation problems, such as…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

Humans can build a mental map of a geographical area to find their way and recognize places. The basic task we consider is geo-localization - finding the pose (position & orientation) of a camera in a large 3D scene from a single image. We…

Knee injuries are frequent, varied and often require the patient to undergo intensive rehabilitation for several months. Treatment protocols usually contemplate some recurrent measurements in order to assess progress, such as goniometry.…

Incorporating computed tomography (CT) reconstruction operators into differentiable pipelines has proven beneficial in many applications. Such approaches usually focus on the projection data and keep the acquisition geometry fixed. However,…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through IMU propagation. In this paper, we address the limitations…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…