相关论文: Pose-GNN : Camera Pose Estimation System Using Gra…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…

Convolutional neural networks (CNNs) are usually used as a backbone to design methods in biomedical image segmentation. However, the limitation of receptive field and large number of parameters limit the performance of these methods. In…

Recovering an image from a noisy observation is a key problem in signal processing. Recently, it has been shown that data-driven approaches employing convolutional neural networks can outperform classical model-based techniques, because…

The task of graph node classification is often approached by utilizing a local Graph Neural Network (GNN), that learns only local information from the node input features and their adjacency. In this paper, we propose to improve the…

RGB-D based 6D pose estimation has recently achieved remarkable progress, but still suffers from two major limitations: (1) ineffective representation of depth data and (2) insufficient integration of different modalities. This paper…

Scene understanding plays an important role in several high-level computer vision applications, such as autonomous vehicles, intelligent video surveillance, or robotics. However, too few solutions have been proposed for indoor/outdoor scene…

With the widespread availability of cellphones and cameras that have GPS capabilities, it is common for images being uploaded to the Internet today to have GPS coordinates associated with them. In addition to research that tries to predict…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

We propose a method for inferring human attributes (such as gender, hair style, clothes style, expression, action) from images of people under large variation of viewpoint, pose, appearance, articulation and occlusion. Convolutional Neural…

We explore the use of graph neural networks (GNNs) to model spatial processes in which there is no a priori graphical structure. Similar to finite element analysis, we assign nodes of a GNN to spatial locations and use a computational…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…

Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…

In few-shot classification, the aim is to learn models able to discriminate classes using only a small number of labeled examples. In this context, works have proposed to introduce Graph Neural Networks (GNNs) aiming at exploiting the…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

Recently, graph neural networks (GNNs) have proved to be suitable in tasks on unstructured data. Particularly in tasks as community detection, node classification, and link prediction. However, most GNN models still operate with static…

Human motion prediction is a challenging task due to the stochasticity and aperiodicity of future poses. Recently, graph convolutional network has been proven to be very effective to learn dynamic relations among pose joints, which is…

The pose graph is a core component of Structure-from-Motion (SfM), where images act as nodes and edges encode relative poses. Since geometric verification is expensive, SfM pipelines restrict the pose graph to a sparse set of candidate…

In this paper, we study the problem of learning Graph Convolutional Networks (GCNs) for regression. Current architectures of GCNs are limited to the small receptive field of convolution filters and shared transformation matrix for each…

This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…