相关论文: 3D Object Instance Recognition and Pose Estimation…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

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…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…

Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

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…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

Localization in a dynamic environment suffers from moving objects. Removing dynamic object is crucial in this situation but become tricky when ego-motion is coupled. In this paper, instead of proposing a new slam framework, we aim at a more…

We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Recent multi-camera 3D object detectors usually leverage temporal information to construct multi-view stereo that alleviates the ill-posed depth estimation. However, they typically assume all the objects are static and directly aggregate…

Content-based image retrieval is the process of retrieving a subset of images from an extensive image gallery based on visual contents, such as color, shape or spatial relations, and texture. In some applications, such as localization,…

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…

We propose a novel approach for automatic extraction (instance segmentation) of fibers from low resolution 3D X-ray computed tomography scans of short glass fiber reinforced polymers. We have designed a 3D instance segmentation architecture…