相关论文: SPEED+: Next-Generation Dataset for Spacecraft Pos…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

We propose a method to learn, even using a dataset where objects appear only in sparsely sampled views (e.g. Pix3D), the ability to synthesize a pose trajectory for an arbitrary reference image. This is achieved with a cross-modal pose…

The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…

Methods and datasets for human pose estimation focus predominantly on side- and front-view scenarios. We overcome the limitation by leveraging synthetic data and introduce RePoGen (RarE POses GENerator), an SMPL-based method for generating…

Understanding relations between objects is crucial for understanding the semantics of a visual scene. It is also an essential step in order to bridge visual and language models. However, current state-of-the-art computer vision models still…

Generalized Category Discovery (GCD) aims to classify unlabelled images from both `seen' and `unseen' classes by transferring knowledge from a set of labelled `seen' class images. A key theme in existing GCD approaches is adapting…

Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

An event-based camera outputs an event whenever a change in scene brightness of a preset magnitude is detected at a particular pixel location in the sensor plane. The resulting sparse and asynchronous output coupled with the high dynamic…

The increasing importance of Vision-Based Navigation (VBN) algorithms in space missions raises numerous challenges in ensuring their reliability and operational robustness. Sensor faults can lead to inaccurate outputs from navigation…

Spacecraft autonomy can be enhanced by vision-based navigation (VBN) techniques. Applications range from manoeuvers around Solar System objects and landing on planetary surfaces, to in-orbit servicing or space debris removal. The…

Pose prediction is to predict future poses given a window of previous poses. In this paper, we propose a new problem that predicts poses using 3D joint coordinate sequences. Different from the traditional pose prediction based on Mocap…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Detecting anomalies in images has become a well-explored problem in both academia and industry. State-of-the-art algorithms are able to detect defects in increasingly difficult settings and data modalities. However, most current methods are…

Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…

Salient object detection (SOD) aims to segment visually prominent regions in images and serves as a foundational task for various computer vision applications. We posit that SOD can now reach near-supervised accuracy without a single…

In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range…