相关论文: Deep Learning for Spacecraft Pose Estimation from …

This work addresses the challenge of training supervised machine or deep learning models on orbiting platforms where we are generally constrained by limited on-board hardware capabilities and restricted uplink bandwidths to upload. We aim…

Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…

This paper presents an unsupervised deep learning framework called UnDEMoN for estimating dense depth map and 6-DoF camera pose information directly from monocular images. The proposed network is trained using unlabeled monocular stereo…

This work presents Spacecraft Pose Network v3 (SPNv3), a Neural Network (NN) for monocular pose estimation of a known, non-cooperative target spacecraft. SPNv3 is designed and trained to be computationally efficient while providing…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

In this paper, we present a simple but powerful method to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a novel convolutional neural network to regress the unit quaternion, which…

We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry. We also present a new method for 6D pose estimation of…

Estimating 6D object pose from an RGB image is important for many real-world applications such as autonomous driving and robotic grasping. Recent deep learning models have achieved significant progress on this task but their robustness…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

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…

In this paper, we proposed a pose estimation system based on rendered image training set, which predicts the pose of objects in real image, with knowledge of object category and tight bounding box. We developed a patch-based multi-class…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

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…

Characterization of uncooperative Resident Space Objects (RSO) play a crucial role in On-Orbit Servicing (OOS) and Active Debris Removal (ADR) missions to assess the geometry and motion properties. To address the challenges of…

We present a robust deep learning based 6 degrees-of-freedom (DoF) localization system for endoscopic capsule robots. Our system mainly focuses on localization of endoscopic capsule robots inside the GI tract using only visual information…