相关论文: Pose Estimation of Specular and Symmetrical Object…

This work presents a framework for monocular 6D pose estimation of surgical instruments in open surgery, addressing challenges such as object articulations, specularity, occlusions, and synthetic-to-real domain adaptation. The proposed…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Light has many properties that vision sensors can passively measure. Colour-band separated wavelength and intensity are arguably the most commonly used for monocular 6D object pose estimation. This paper explores how complementary…

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

We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neural networks: one that estimates the object-to-camera pose,…

Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework…

6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…

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…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

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…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

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…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

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…

Monocular object pose estimation, as a pivotal task in computer vision and robotics, heavily depends on accurate 2D-3D correspondences, which often demand costly CAD models that may not be readily available. Object 3D reconstruction methods…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…