相关论文: Wide-Baseline Relative Camera Pose Estimation with…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

Most of the existing deep learning-based methods for 3D hand and human pose estimation from a single depth map are based on a common framework that takes a 2D depth map and directly regresses the 3D coordinates of keypoints, such as hand or…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries and occlusions introduce visual ambiguities, leading to…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

We introduce a new method for category-level pose estimation which produces a distribution over predicted poses by integrating 3D shape estimates from a generative object model with segmentation information. Given an input depth-image of an…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Modern deep learning-based 3D pose estimation approaches require plenty of 3D pose annotations. However, existing 3D datasets lack diversity, which limits the performance of current methods and their generalization ability. Although…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

This paper addresses the task of relative camera pose estimation from raw image pixels, by means of deep neural networks. The proposed RPNet network takes pairs of images as input and directly infers the relative poses, without the need of…

3D Hand pose estimation from a single depth image is an essential topic in computer vision and human-computer interaction. Although the rising of deep learning method boosts the accuracy a lot, the problem is still hard to solve due to the…