相关论文: Implicit-PDF: Non-Parametric Representation of Pro…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Circular and non-flat data distributions are prevalent across diverse domains of data science, yet their specific geometric structures often remain underutilized in machine learning frameworks. A principled approach to accounting for the…

Robotic grasping in highly noisy environments presents complex challenges, especially with limited prior knowledge about the scene. In particular, identifying good grasping poses with Bayesian inference becomes difficult due to two reasons:…

Convolutional Neural Network based approaches for monocular 3D human pose estimation usually require a large amount of training images with 3D pose annotations. While it is feasible to provide 2D joint annotations for large corpora of…

Estimating the orientations of nodes in a pose graph from relative angular measurements is challenging because the variables live on a manifold product with nontrivial topology and the maximum-likelihood objective function is non-convex and…

3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…

Recent works in medical image registration have proposed the use of Implicit Neural Representations, demonstrating performance that rivals state-of-the-art learning-based methods. However, these implicit representations need to be optimized…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Neural networks have recently been used to analyze diverse physical systems and to identify the underlying dynamics. While existing methods achieve impressive results, they are limited by their strong demand for training data and their weak…

It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…

We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…

Many of the tools available for robot learning were designed for Euclidean data. However, many applications in robotics involve manifold-valued data. A common example is orientation; this can be represented as a 3-by-3 rotation matrix or a…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Most recent approaches to monocular 3D pose estimation rely on Deep Learning. They either train a Convolutional Neural Network to directly regress from image to 3D pose, which ignores the dependencies between human joints, or model these…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

In this paper, we investigate the problems that Convolutional Neural Networks (CNN)-based pose estimators have with symmetric objects. We considered the value of the CNN's output representation when continuously rotating the object and…

Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…

Estimating 3d human pose from monocular images is a challenging problem due to the variety and complexity of human poses and the inherent ambiguity in recovering depth from the single view. Recent deep learning based methods show promising…