相关论文: CloudAAE: Learning 6D Object Pose Regression with …

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

Deep generative architectures provide a way to model not only images but also complex, 3-dimensional objects, such as point clouds. In this work, we present a novel method to obtain meaningful representations of 3D shapes that can be used…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

3D pose transfer that aims to transfer the desired pose to a target mesh is one of the most challenging 3D generation tasks. Previous attempts rely on well-defined parametric human models or skeletal joints as driving pose sources. However,…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…

The manual annotation for large-scale point clouds is still tedious and unavailable for many harsh real-world tasks. Self-supervised learning, which is used on raw and unlabeled data to pre-train deep neural networks, is a promising…

Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…