相关论文: L6DNet: Light 6 DoF Network for Robust and Precise…

This paper addresses the problem of 3D human pose estimation from a single image. We follow a standard two-step pipeline by first detecting the 2D position of the $N$ body joints, and then using these observations to infer 3D pose. For the…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

We propose 6DGS to estimate the camera pose of a target RGB image given a 3D Gaussian Splatting (3DGS) model representing the scene. 6DGS avoids the iterative process typical of analysis-by-synthesis methods (e.g. iNeRF) that also require…

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 consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

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…

We propose a method for human pose estimation based on Deep Neural Networks (DNNs). The pose estimation is formulated as a DNN-based regression problem towards body joints. We present a cascade of such DNN regressors which results in high…

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…

We propose a new 6-DoF grasp pose synthesis approach from 2D/2.5D input based on keypoints. Keypoint-based grasp detector from image input has demonstrated promising results in the previous study, where the additional visual information…

In recent years, there has been a growing trend of using data-driven methods in industrial settings. These kinds of methods often process video images or parts, therefore the integrity of such images is crucial. Sometimes datasets, e.g.…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

We present MoVNect, a lightweight deep neural network to capture 3D human pose using a single RGB camera. To improve the overall performance of the model, we apply the teacher-student learning method based knowledge distillation to 3D human…

We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…