相关论文: Reference Pose Generation for Long-term Visual Loc…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Pose-invariant face recognition has become a challenging problem for modern AI-based face recognition systems. It aims at matching a profile face captured in the wild with a frontal face registered in a database. Existing methods perform…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Human motion copy is an intriguing yet challenging task in artificial intelligence and computer vision, which strives to generate a fake video of a target person performing the motion of a source person. The problem is inherently…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation…

We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based…

Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…

Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in $\mathrm{SE}(3)$ or estimate it indirectly via local feature matching. The former struggle with object…

Visual Place Recognition (VPR) is crucial in computer vision, aiming to retrieve database images similar to a query image from an extensive collection of known images. However, like many vision tasks, VPR always degrades at night due to the…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

Visual localization involves estimating a query image's 6-DoF (degrees of freedom) camera pose, which is a fundamental component in various computer vision and robotic tasks. This paper presents LoGS, a vision-based localization pipeline…

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In this paper, we present a novel relative geometry-aware Siamese…