相关论文: Multi-Task Deep Networks for Depth-Based 6D Object…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Action recognition and human pose estimation are closely related but both problems are generally handled as distinct tasks in the literature. In this work, we propose a multitask framework for jointly 2D and 3D pose estimation from still…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

Human pose estimation and action recognition are related tasks since both problems are strongly dependent on the human body representation and analysis. Nonetheless, most recent methods in the literature handle the two problems separately.…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Analyzing complex scenes with Deep Neural Networks is a challenging task, particularly when images contain multiple objects that partially occlude each other. Existing approaches to image analysis mostly process objects independently and do…

In multi-object detection using neural networks, the fundamental problem is, "How should the network learn a variable number of bounding boxes in different input images?". Previous methods train a multi-object detection network through a…

Robust 6D object pose estimation in cluttered or occluded conditions using monocular RGB images remains a challenging task. One reason is that current pose estimation networks struggle to extract discriminative, pose-aware features using 2D…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…