相关论文: Learning Canonical Shape Space for Category-Level …

Defining and reliably finding a canonical orientation for 3D surfaces is key to many Computer Vision and Robotics applications. This task is commonly addressed by handcrafted algorithms exploiting geometric cues deemed as distinctive and…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

3D shape completion for real data is important but challenging, since partial point clouds acquired by real-world sensors are usually sparse, noisy and unaligned. Different from previous methods, we address the problem of learning 3D…

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…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

Deep generative architectures provide a way to model not only images but also complex, 3-dimensional objects, such as point clouds. In this work, we present a novel method to obtain meaningful representations of 3D shapes that can be used…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

This paper presents 6D-ViT, a transformer-based instance representation learning network, which is suitable for highly accurate category-level object pose estimation on RGB-D images. Specifically, a novel two-stream encoder-decoder…

We consider the problem of estimating object pose and shape from an RGB-D image. Our first contribution is to introduce CRISP, a category-agnostic object pose and shape estimation pipeline. The pipeline implements an encoder-decoder model…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

3D generation has made significant progress, however, it still largely remains at the object-level. Feedforward 3D scene-level generation has been rarely explored due to the lack of models capable of scaling-up latent representation…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

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…

3D learning systems implicitly assume that objects occupy a coherent reference frame. Nonetheless, in practice, every asset arrives with an arbitrary global rotation, and models are left to resolve directional ambiguity on their own. This…

We tackle the problem of learning the geometry of multiple categories of deformable objects jointly. Recent work has shown that it is possible to learn a unified dense pose predictor for several categories of related objects. However,…