相关论文: PyraPose: Feature Pyramids for Fast and Accurate O…

Estimating human pose is an important yet challenging task in multimedia applications. Existing pose estimation libraries target reproducing standard pose estimation algorithms. When it comes to customising these algorithms for real-world…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Unsupervised domain adaptation is critical in various computer vision tasks, such as object detection, instance segmentation, and semantic segmentation, which aims to alleviate performance degradation caused by domain-shift. Most of…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

Unsupervised domain adaptation algorithms aim to transfer the knowledge learned from one domain to another (e.g., synthetic to real images). The adapted representations often do not capture pixel-level domain shifts that are crucial for…

Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

This paper addresses the problem of cross-dataset generalization of 3D human pose estimation models. Testing a pre-trained 3D pose estimator on a new dataset results in a major performance drop. Previous methods have mainly addressed this…

Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In…

We propose a new method named OnePose for object pose estimation. Unlike existing instance-level or category-level methods, OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

We present a new pose transfer method for synthesizing a human animation from a single image of a person controlled by a sequence of body poses. Existing pose transfer methods exhibit significant visual artifacts when applying to a novel…