相关论文: Object 6D Pose Estimation with Non-local Attention

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…

We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…

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…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

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…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D…

We present a novel multi-attentional convolutional architecture to tackle the problem of real-time RGB-D 6D object pose tracking of single, known objects. Such a problem poses multiple challenges originating both from the objects' nature…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

Category-level object pose estimation, which predicts the pose of objects within a known category without prior knowledge of individual instances, is essential in applications like warehouse automation and manufacturing. Existing methods…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…