相关论文: Data-driven 6D Pose Tracking by Calibrating Image …

The goal of 3D pose transfer is to transfer the pose from the source mesh to the target mesh while preserving the identity information (e.g., face, body shape) of the target mesh. Deep learning-based methods improved the efficiency and…

We propose a method to learn, even using a dataset where objects appear only in sparsely sampled views (e.g. Pix3D), the ability to synthesize a pose trajectory for an arbitrary reference image. This is achieved with a cross-modal pose…

Recent advancements in trajectory-guided video generation have achieved notable progress. However, existing models still face challenges in generating object motions with potentially changing 6D poses under wide-range rotations, due to…

Tracking 6D poses of objects from videos provides rich information to a robot in performing different tasks such as manipulation and navigation. In this work, we formulate the 6D object pose tracking problem in the Rao-Blackwellized…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

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…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

We propose a method for learning from streaming visual data using a compact, constant size representation of all the data that was seen until a given moment. Specifically, we construct a 'coreset' representation of streaming data using a…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…

This paper improves state-of-the-art visual object trackers that use online adaptation. Our core contribution is an offline meta-learning-based method to adjust the initial deep networks used in online adaptation-based tracking. The meta…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

6D object pose tracking has been extensively studied in the robotics and computer vision communities. The most promising solutions, leveraging on deep neural networks and/or filtering and optimization, exhibit notable performance on…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…