相关论文: DistillPose: Lightweight Camera Localization Using…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

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…

Deep neural networks have rapidly become the mainstream method for face recognition (FR). However, this limits the deployment of such models that contain an extremely large number of parameters to embedded and low-end devices. In this work,…

Category-level object pose estimation aims to recover the rotation, translation and size of unseen instances within predefined categories. In this task, deep neural network-based methods have demonstrated remarkable performance. However,…

We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner…

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…

IoT devices suffer from resource limitations, such as processor, RAM, and disc storage. These limitations become more evident when handling demanding applications, such as deep learning, well-known for their heavy computational…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

With the widespread use of NeRF-based implicit 3D representation, the need for camera localization in the same representation becomes manifestly apparent. Doing so not only simplifies the localization process -- by avoiding an…

Image representations derived from pre-trained Convolutional Neural Networks (CNNs) have become the new state of the art in computer vision tasks such as instance retrieval. This work explores the suitability for instance retrieval of…

In this study, we present a pragmatic lightweight pose estimation model. Our model can achieve real-time predictions using low-power embedded devices. This system was found to be very accurate and achieved a 94.5% accuracy of SOTA HRNet…

Previous Knowledge Distillation based efficient image retrieval methods employs a lightweight network as the student model for fast inference. However, the lightweight student model lacks adequate representation capacity for effective…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…

State-of-the-art CNN based recognition models are often computationally prohibitive to deploy on low-end devices. A promising high level approach tackling this limitation is knowledge distillation, which let small student model mimic…

Deep convolutional neural networks (DCNNs) have aided high dynamic range (HDR) imaging recently and have received a lot of attention. The quality of DCNN-generated HDR images has overperformed the traditional counterparts. However, DCNNs…

Pose estimation is a critical task in computer vision with a wide range of applications from activity monitoring to human-robot interaction. However,most of the existing methods are computationally expensive or have complex architecture.…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

Several recent approaches showed how the representations learned by Convolutional Neural Networks can be repurposed for novel tasks. Most commonly it has been shown that the activation features of the last fully connected layers (fc7 or…