相关论文: Multistream ValidNet: Improving 6D Object Pose Est…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

This paper proposes a statistical approach to 2D pose estimation from human images. The main problems with the standard supervised approach, which is based on a deep recognition (image-to-pose) model, are that it often yields anatomically…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

This paper introduces a novel multi-view 6 DoF object pose refinement approach focusing on improving methods trained on synthetic data. It is based on the DPOD detector, which produces dense 2D-3D correspondences between the model vertices…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

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…

Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

The estimation of 6D object poses is a fundamental task in many computer vision applications. Particularly, in high risk scenarios such as human-robot interaction, industrial inspection, and automation, reliable pose estimates are crucial.…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…