相关论文: Assistive Relative Pose Estimation for On-orbit As…

Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…

The adaptability of the convolutional neural network (CNN) technique for aerodynamic meta-modeling tasks is probed in this work. The primary objective is to develop suitable CNN architecture for variable flow conditions and object geometry,…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of the selected feature…

This paper investigates how working of Convolutional Neural Network (CNN) can be explained through visualization in the context of machine perception of autonomous vehicles. We visualize what type of features are extracted in different…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

Most recent 6D object pose estimation methods, including unsupervised ones, require many real training images. Unfortunately, for some applications, such as those in space or deep under water, acquiring real images, even unannotated, is…

In this paper, we present a simple but powerful method to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a novel convolutional neural network to regress the unit quaternion, which…

In this chapter, we present a brief overview of the recent development in object detection using convolutional neural networks (CNN). Several classical CNN-based detectors are presented. Some developments are based on the detector…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

Relative location prediction in computed tomography (CT) scan images is a challenging problem. In this paper, a regression model based on one-dimensional convolutional neural networks is proposed to determine the relative location of a CT…

Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…

Convolutional neural networks (CNN) allow achieving the highest accuracy for the task of object detection in images. Major challenges in further development of object detectors are false-positive detections and high demand of processing…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

In the field of visual ego-motion estimation for Micro Air Vehicles (MAVs), fast maneuvers stay challenging mainly because of the big visual disparity and motion blur. In the pursuit of higher robustness, we study convolutional neural…

Viewpoint estimation from 2D rendered images is helpful in understanding how users select viewpoints for volume visualization and guiding users to select better viewpoints based on previous visualizations. In this paper, we propose a…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…