相关论文: StereOBJ-1M: Large-scale Stereo Image Dataset for …

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

We present a diverse dataset of industrial metal objects. These objects are symmetric, textureless and highly reflective, leading to challenging conditions not captured in existing datasets. Our dataset contains both real-world and…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry. We also present a new method for 6D pose estimation of…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

Autonomous robotic systems operating in human environments must understand their surroundings to make accurate and safe decisions. In crowded human scenes with close-up human-robot interaction and robot navigation, a deep understanding…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

Aiming at facilitating a real-world, ever-evolving and scalable autonomous driving system, we present a large-scale dataset for standardizing the evaluation of different self-supervised and semi-supervised approaches by learning from raw…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

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…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…