相关论文: MaskedFusion: Mask-based 6D Object Pose Estimation

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

We propose POse-guided SElective Fusion (POSEFusion), a single-view human volumetric capture method that leverages tracking-based methods and tracking-free inference to achieve high-fidelity and dynamic 3D reconstruction. By contributing a…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

As RGB-D sensors become more affordable, using RGB-D images to obtain high-accuracy 6D pose estimation results becomes a better option. State-of-the-art approaches typically use different backbones to extract features for RGB and depth…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Estimating the 2D human poses in each view is typically the first step in calibrated multi-view 3D pose estimation. But the performance of 2D pose detectors suffers from challenging situations such as occlusions and oblique viewing angles.…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

This paper presents a part-based face detection approach where the spatial relationship between the face parts is represented by a hidden 3D model with six parameters. The computational complexity of the search in the six dimensional pose…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Fusing 3D LiDAR features with 2D camera features is a promising technique for enhancing the accuracy of 3D detection, thanks to their complementary physical properties. While most of the existing methods focus on directly fusing camera…

Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…