相关论文: Large Scale Joint Semantic Re-Localisation and Sce…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

We introduce the first approach to solve the challenging problem of unsupervised 4D visual scene understanding for complex dynamic scenes with multiple interacting people from multi-view video. Our approach simultaneously estimates a…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…