相关论文: Robust 6D Object Pose Estimation with Stochastic C…

As robotics and augmented reality applications increasingly rely on precise and efficient 6D object pose estimation, real-time performance on edge devices is required for more interactive and responsive systems. Our proposed Sparse…

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…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

It is often desired to train 6D pose estimation systems on synthetic data because manual annotation is expensive. However, due to the large domain gap between the synthetic and real images, synthesizing color images is expensive. In…

We propose a novel keypoint voting 6DoF object pose estimation method, which takes pure unordered point cloud geometry as input without RGB information. The proposed cascaded keypoint voting method, called RCVPose3D, is based upon a novel…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

Human pose estimation, with its broad applications in action recognition and motion capture, has experienced significant advancements. However, current Transformer-based methods for video pose estimation often face challenges in managing…

The objective of this work is to estimate 3D human pose from a single RGB image. Extracting image representations which incorporate both spatial relation of body parts and their relative depth plays an essential role in accurate3D pose…

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

High-density object counting in surveillance scenes is challenging mainly due to the drastic variation of object scales. The prevalence of deep learning has largely boosted the object counting accuracy on several benchmark datasets.…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Recently, 3D version has been improved greatly due to the development of deep neural networks. A high quality dataset is important to the deep learning method. Existing datasets for 3D vision has been constructed, such as Bigbird and YCB.…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…