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

Drone-based crowd tracking faces difficulties in accurately identifying and monitoring objects from an aerial perspective, largely due to their small size and close proximity to each other, which complicates both localization and tracking.…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

This study presents a novel framework for 3D gaze tracking tailored for mixed-reality settings, aimed at enhancing joint attention and collaborative efforts in team-based scenarios. Conventional gaze tracking, often limited by monocular…

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii)…

The tracking-by-detection paradigm today has become the dominant method for multi-object tracking and works by detecting objects in each frame and then performing data association across frames. However, its sequential frame-wise matching…

Deep learning inference that needs to largely take place on the 'edge' is a highly computational and memory intensive workload, making it intractable for low-power, embedded platforms such as mobile nodes and remote security applications.…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

Category-level 6D pose estimation, aiming to predict the location and orientation of unseen object instances, is fundamental to many scenarios such as robotic manipulation and augmented reality, yet still remains unsolved. Precisely…

Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…

Current datasets for video-based person re-identification (re-ID) do not include structural knowledge in form of human pose annotations for the persons of interest. Nonetheless, pose information is very helpful to disentangle useful feature…

Robust 6D object pose estimation in cluttered or occluded conditions using monocular RGB images remains a challenging task. One reason is that current pose estimation networks struggle to extract discriminative, pose-aware features using 2D…

Single object tracking (SOT) heavily relies on the representation of the target object as a bounding box. However, due to the potential deformation and rotation experienced by the tracked targets, the genuine bounding box fails to capture…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…