相关论文: DistillPose: Lightweight Camera Localization Using…

We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…

Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Recent research on human pose estimation has achieved significant improvement. However, most existing methods tend to pursue higher scores using complex architecture or computationally expensive models on benchmark datasets, ignoring the…

Existing video-based human pose estimation methods extensively apply large networks onto every frame in the video to localize body joints, which suffer high computational cost and hardly meet the low-latency requirement in realistic…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

Camera pose estimation in known scenes is a 3D geometry task recently tackled by multiple learning algorithms. Many regress precise geometric quantities, like poses or 3D points, from an input image. This either fails to generalize to new…

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

We present a deep neural network (DNN) that uses both sensor data (gyroscope) and image content (optical flow) to stabilize videos through unsupervised learning. The network fuses optical flow with real/virtual camera pose histories into a…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Human pose estimation in video relies on local information by either estimating each frame independently or tracking poses across frames. In this paper, we propose a novel method combining local approaches with global context. We introduce…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

Conventional deep learning based methods for object detection require a large amount of bounding box annotations for training, which is expensive to obtain such high quality annotated data. Few-shot object detection, which learns to adapt…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Large convolutional neural network models have recently demonstrated impressive performance on video attention prediction. Conventionally, these models are with intensive computation and large memory. To address these issues, we design an…

Deep Learning has a hierarchical network architecture to represent the complicated feature of input patterns. We have developed the adaptive structure learning method of Deep Belief Network (DBN) that can discover an optimal number of…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…