相关论文: Generating Annotated Training Data for 6D Object P…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Since performing exercises (including, e.g., practice tests) forms a crucial component of learning, and creating such exercises requires non-trivial effort from the teacher, there is a great value in automatic exercise generation in digital…

2D/3D human pose estimation is needed to develop novel intelligent tools for the operating room that can analyze and support the clinical activities. The lack of annotated data and the complexity of state-of-the-art pose estimation…

Domain gap between synthetic and real data in visual regression (e.g. 6D pose estimation) is bridged in this paper via global feature alignment and local refinement on the coarse classification of discretized anchor classes in target space,…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

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…

While much progress has been made in 6-DoF object pose estimation from a single RGB image, the current leading approaches heavily rely on real-annotation data. As such, they remain sensitive to severe occlusions, because covering all…

Object detection is one of the most important and fundamental aspects of computer vision tasks, which has been broadly utilized in pose estimation, object tracking and instance segmentation models. To obtain training data for object…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained…

Word spotting is a popular tool for supporting the first exploration of historic, handwritten document collections. Today, the best performing methods rely on machine learning techniques, which require a high amount of annotated training…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

Recent years have produced a variety of learning based methods in the context of computer vision and robotics. Most of the recently proposed methods are based on deep learning, which require very large amounts of data compared to…