相关论文: Fusing the Old with the New: Learning Relative Cam…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

Recognizing precise geometrical configurations of groups of objects is a key capability of human spatial cognition, yet little studied in the deep learning literature so far. In particular, a fundamental problem is how a machine can learn…

In this paper, we aim to recover the 3D human pose from 2D body joints of a single image. The major challenge in this task is the depth ambiguity since different 3D poses may produce similar 2D poses. Although many recent advances in this…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

Human pose estimation using deep neural networks aims to map input images with large variations into multiple body keypoints which must satisfy a set of geometric constraints and inter-dependency imposed by the human body model. This is a…

Determining the relative pose of a previously unseen object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically predict 3D translation utilizing the ground-truth object…

Recently, deep metric learning techniques received attention, as the learned distance representations are useful to capture the similarity relationship among samples and further improve the performance of various of supervised or…

Recently, deep neural networks have made remarkable achievements in 3D point cloud classification. However, existing classification methods are mainly implemented on idealized point clouds and suffer heavy degradation of per-formance on…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Deep neural networks (DNNs) trained on large-scale datasets have recently achieved impressive improvements in face recognition. But a persistent challenge remains to develop methods capable of handling large pose variations that are…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

We present a joint 3D pose and focal length estimation approach for object categories in the wild. In contrast to previous methods that predict 3D poses independently of the focal length or assume a constant focal length, we explicitly…

We propose a deep neural network fusion architecture for fast and robust pedestrian detection. The proposed network fusion architecture allows for parallel processing of multiple networks for speed. A single shot deep convolutional network…

Camera localization is a classical computer vision task that serves various Artificial Intelligence and Robotics applications. With the rapid developments of Deep Neural Networks (DNNs), end-to-end visual localization methods are prosperous…

We present a method for learning an embedding that places images of humans in similar poses nearby. This embedding can be used as a direct method of comparing images based on human pose, avoiding potential challenges of estimating body…