相关论文: PoseRBPF: A Rao-Blackwellized Particle Filter for …

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

Tracking the 6DoF pose of unknown objects in monocular RGB video sequences is crucial for robotic manipulation. However, existing approaches typically rely on accurate depth information, which is non-trivial to obtain in real-world…

6D object pose tracking has been extensively studied in the robotics and computer vision communities. The most promising solutions, leveraging on deep neural networks and/or filtering and optimization, exhibit notable performance on…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Model based methods to marker-free motion capture have a very high computational overhead that make them unattractive. In this paper we describe a method that improves on existing global optimization techniques to tracking articulated…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

We introduce a tracking-by-detection method that integrates a deep object detector with a particle filter tracker under the regularization framework where the tracked object is represented by a sparse dictionary. A novel observation model…

Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework…