相关论文: 3D Point-to-Keypoint Voting Network for 6D Pose Es…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

3D pose estimation is a key component of many important computer vision tasks such as autonomous navigation and 3D scene understanding. Most state-of-the-art approaches to 3D pose estimation solve this problem as a pose-classification…

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…

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses. 6D pose estimation is an open challenge due to complex world…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point Cloud". Our code…

Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

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…

Learning based 6D object pose estimation methods rely on computing large intermediate pose representations and/or iteratively refining an initial estimation with a slow render-compare pipeline. This paper introduces a novel method we call…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Despite the recent advances in computer vision research, estimating the 3D human pose from single RGB images remains a challenging task, as multiple 3D poses can correspond to the same 2D projection on the image. In this context, depth data…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…