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

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Supervised learning based methods for monocular depth estimation usually require large amounts of extensively annotated training data. In the case of aerial imagery, this ground truth is particularly difficult to acquire. Therefore, in this…

Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…

Reliable relative pose estimation is a key enabler for autonomous rendezvous and proximity operations, yet space imagery is notoriously challenging due to extreme illumination, high contrast, and fast target motion. Event cameras provide…

Accurately estimating the pose of an object is a crucial task in computer vision and robotics. There are two main deep learning approaches for this: geometric representation regression and iterative refinement. However, these methods have…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

Deep learning has become the gold standard for image processing over the past decade. Simultaneously, we have seen growing interest in orbital activities such as satellite servicing and debris removal that depend on proximity operations…

Estimation of the human pose from a monocular camera has been an emerging research topic in the computer vision community with many applications. Recently, benefited from the deep learning technologies, a significant amount of research…

Vision-based pose estimation of Unmanned Aerial Vehicles (UAV) in unknown environments is a rapidly growing research area in the field of robot vision. The task becomes more complex when the only available sensor is a static single camera…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

Object detection is one of the fundamental objectives in Applied Computer Vision. In some of the applications, object detection becomes very challenging such as in the case of satellite image processing. Satellite image processing has…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

Ground-based solar image restoration is a computationally expensive procedure that involves nonlinear optimization techniques. The presence of atmospheric turbulence produces perturbations in individual images that make it necessary to…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

Computational methods to accelerate natural disaster response include change detection, map alignment, and vision-aided navigation. Current software functions optimally only on near-nadir images, though off-nadir images are often the first…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…