相关论文: Real-time Background-aware 3D Textureless Object P…

An increasing array of biomedical and computer vision applications requires the predictive modeling of complex data, for example images and shapes. The main challenge when predicting such objects lies in the fact that they do not comply to…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

We present a novel 3D pose refinement approach based on differentiable rendering for objects of arbitrary categories in the wild. In contrast to previous methods, we make two main contributions: First, instead of comparing real-world images…

Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

This paper investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…

Estimating the 6D pose of unseen objects from monocular RGB images remains a challenging problem, especially due to the lack of prior object-specific knowledge. To tackle this issue, we propose RefPose, an innovative approach to object pose…

We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…

A human action can be seen as transitions between one's body poses over time, where the transition depicts a temporal relation between two poses. Recognizing actions thus involves learning a classifier sensitive to these pose transitions as…

The dominant paradigm in 3D human pose estimation that lifts a 2D pose sequence to 3D heavily relies on long-term temporal clues (i.e., using a daunting number of video frames) for improved accuracy, which incurs performance saturation,…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Object detection is a main task in computer vision. Template matching is the reference method for detecting objects with arbitrary templates. However, template matching computational complexity depends on the rotation accuracy, being a…

We present an approach to perform 3D pose estimation of multiple people from a few calibrated camera views. Our architecture, leveraging the recently proposed unprojection layer, aggregates feature-maps from a 2D pose estimator backbone…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

In this paper, we propose an efficient end-to-end algorithm to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a fully convolutional network to regress the 3D rotation and the 3D…

In an unfamiliar setting, a model-based reinforcement learning agent can be limited by the accuracy of its world model. In this work, we present a novel, training-free approach to improving the performance of such agents separately from…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…