相关论文: Learning Stereopsis from Geometric Synthesis for 6…

Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…

Estimating 3D from 2D is one of the central tasks in computer vision. In this work, we consider the monocular setting, i.e. single-view input, for 3D human pose estimation (HPE). Here, the task is to predict a 3D point set of human skeletal…

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…

6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

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 twofold. First,…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features…

Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Although various visual localization approaches exist, such as scene coordinate regression and camera pose regression, these methods often struggle with optimization complexity or limited accuracy. To address these challenges, we explore…

Multi-person 3D human pose estimation from a single image is a challenging problem, especially for in-the-wild settings due to the lack of 3D annotated data. We propose HG-RCNN, a Mask-RCNN based network that also leverages the benefits of…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

We propose a method for estimating the 6DoF pose of a rigid object with an available 3D model from a single RGB image. Unlike classical correspondence-based methods which predict 3D object coordinates at pixels of the input image, the…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…