相关论文: Satellite Pose Estimation with Deep Landmark Regre…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

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…

We introduce the concept of geometric stability to the problem of 6D object pose estimation and propose to learn pose inference based on geometrically stable patches extracted from observed 3D point clouds. According to the theory of…

The Deep Learning Visual Space Simulation System (DLVS3) introduces a novel synthetic dataset generator and a simulation pipeline specifically designed for training and testing satellite pose estimation solutions. This work introduces the…

We explore 3D human pose estimation from a single RGB image. While many approaches try to directly predict 3D pose from image measurements, we explore a simple architecture that reasons through intermediate 2D pose predictions. Our approach…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siamese neural networks that extract relevant features despite…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…