相关论文: Adversarial Networks for Camera Pose Regression an…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Eye-in-hand camera calibration is a fundamental and long-studied problem in robotics. We present a study on using learning-based methods for solving this problem online from a single RGB image, whilst training our models with entirely…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

Absolute camera pose regressors estimate the position and orientation of a camera from the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron head is trained with images and pose labels to embed a single…

This paper presents a comprehensive review on regression-based method for human pose estimation. The problem of human pose estimation has been intensively studied and enabled many application from entertainment to training. Traditional…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

This paper addresses the task of relative camera pose estimation from raw image pixels, by means of deep neural networks. The proposed RPNet network takes pairs of images as input and directly infers the relative poses, without the need of…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

This paper proposes a method for hand pose estimation from RGB images that uses both external large-scale depth image datasets and paired depth and RGB images as privileged information at training time. We show that providing depth…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Indoor positioning aims at navigation inside areas with no GPS-data availability and could be employed in many applications such as augmented reality, autonomous driving specially inside closed areas and tunnels. In this paper, a deep…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Neural surface reconstruction relies heavily on accurate camera poses as input. Despite utilizing advanced pose estimators like COLMAP or ARKit, camera poses can still be noisy. Existing pose-NeRF joint optimization methods handle poses…

Landmark/pose estimation in single monocular images have received much effort in computer vision due to its important applications. It remains a challenging task when input images severe occlusions caused by, e.g., adverse camera views.…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in…