相关论文: KeyPose: Multi-View 3D Labeling and Keypoint Estim…

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast,…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

In the domain of 3D Human Pose Estimation, which finds widespread daily applications, the requirement for convenient acquisition equipment continues to grow. To satisfy this demand, we set our sights on a short-baseline binocular setting…

Transformer-based methods have swept the benchmarks on 2D and 3D detection on images. Because tokenization before the attention mechanism drops the spatial information, positional encoding becomes critical for those methods. Recent works…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…

We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the objects to be tracked, our approach tracks multiple unseen objects…

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

Egocentric 3D hand pose estimation and gesture recognition are essential for immersive augmented/virtual reality, human-computer interaction, and robotics. However, conventional frame-based cameras suffer from motion blur and limited…

3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Human Pose Estimation (HPE) involves detecting and localizing keypoints on the human body from visual data. In 3D HPE, occlusions, where parts of the body are not visible in the image, pose a significant challenge for accurate pose…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this…

We tackle the task of multi-view, multi-person 3D human pose estimation from a limited number of uncalibrated depth cameras. Recently, many approaches have been proposed for 3D human pose estimation from multi-view RGB cameras. However,…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

Estimating the 3D pose of a hand is an essential part of human-computer interaction. Estimating 3D pose using depth or multi-view sensors has become easier with recent advances in computer vision, however, regressing pose from a single RGB…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…