相关论文: Vision-based Pose Estimation for Augmented Reality…

We propose a scalable, efficient and accurate approach to retrieve 3D models for objects in the wild. Our contribution is twofold. We first present a 3D pose estimation approach for object categories which significantly outperforms the…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Online test-time adaptation for 3D human pose estimation is used for video streams that differ from training data. Ground truth 2D poses are used for adaptation, but only estimated 2D poses are available in practice. This paper addresses…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

3D pose estimation is a key component of many important computer vision tasks such as autonomous navigation and 3D scene understanding. Most state-of-the-art approaches to 3D pose estimation solve this problem as a pose-classification…

We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model…

Recent advances in machine learning technology have enabled highly portable and performant models for many common tasks, especially in image recognition. One emerging field, 3D human pose recognition extrapolated from video, has now…

We present a method for learning an embedding that places images of humans in similar poses nearby. This embedding can be used as a direct method of comparing images based on human pose, avoiding potential challenges of estimating body…

Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Estimating three-dimensional human poses from the positions of two-dimensional joints has shown promising results.However, using two-dimensional joint coordinates as input loses more information than image-based approaches and results in…

Recognition of human poses and actions is crucial for autonomous systems to interact smoothly with people. However, cameras generally capture human poses in 2D as images and videos, which can have significant appearance variations across…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…