相关论文: BundleTrack: 6D Pose Tracking for Novel Objects wi…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…

Real-time tracking of previously unseen, highly dynamic objects in contact-rich scenes, such as during dexterous in-hand manipulation, remains a major challenge. Pure vision-based approaches often fail under heavy occlusions due to frequent…

Multi-object tracking is a fundamental vision problem that has been studied for a long time. As deep learning brings excellent performances to object detection algorithms, Tracking by Detection (TBD) has become the mainstream tracking…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

Long-term point tracking is essential to understand non-rigid motion in the physical world better. Deep learning approaches have recently been incorporated into long-term point tracking, but most prior work predominantly functions in 2D.…

Real-time tracking of 3D hand pose in world space is a challenging problem and plays an important role in VR interaction. Existing work in this space are limited to either producing root-relative (versus world space) 3D pose or rely on…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

We propose a new method named OnePose for object pose estimation. Unlike existing instance-level or category-level methods, OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

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…

In the application of computer-vision based displacement measurement, an optical target is usually required to prove the reference. In the case that the optical target cannot be attached to the measuring objective, edge detection, feature…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…