相关论文: Deep Object Pose Estimation for Semantic Robotic G…

The finding that very large networks can be trained efficiently and reliably has led to a paradigm shift in computer vision from engineered solutions to learning formulations. As a result, the research challenge shifts from devising…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

Modern deep learning models in computer vision require large datasets of real images, which are difficult to curate and pose privacy and legal concerns, limiting their commercial use. Recent works suggest synthetic data as an alternative,…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpose, a Neural Radiance Field is trained from synthetic images…

The increasing applications of autonomous driving systems necessitates large-scale, high-quality datasets to ensure robust performance across diverse scenarios. Synthetic data has emerged as a viable solution to augment real-world datasets…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

This paper addresses the synthetic-to-real domain gap in object detection, focusing on training a YOLOv11 model to detect a specific object (a soup can) using only synthetic data and domain randomization strategies. The methodology involves…

Deep models trained using synthetic data require domain adaptation to bridge the gap between the simulation and target environments. State-of-the-art domain adaptation methods often demand sufficient amounts of (unlabelled) data from the…

This paper introduces a novel multi-view 6 DoF object pose refinement approach focusing on improving methods trained on synthetic data. It is based on the DPOD detector, which produces dense 2D-3D correspondences between the model vertices…

A major challenges of deep learning (DL) is the necessity to collect huge amounts of training data. Often, the lack of a sufficiently large dataset discourages the use of DL in certain applications. Typically, acquiring the required amounts…

Generating a photorealistic image with intended human pose is a promising yet challenging research topic for many applications such as smart photo editing, movie making, virtual try-on, and fashion display. In this paper, we present a novel…

Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…