相关论文: IKEA Object State Dataset: A 6DoF object pose esti…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

We have built a custom mobile multi-camera large-space dense light field capture system, which provides a series of high-quality and sufficiently dense light field images for various scenarios. Our aim is to contribute to the development of…

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely…

Intra-class variations, distribution shifts among source and target domains are the major challenges of category-level tasks. In this study, we address category-level full 6D object pose estimation in the context of depth modality,…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

The increasing popularity of exercises including yoga and Pilates has created a greater demand for professional exercise video datasets in the realm of artificial intelligence. In this study, we developed 3DYoga901, which is organized…

We introduce a new method for category-level pose estimation which produces a distribution over predicted poses by integrating 3D shape estimates from a generative object model with segmentation information. Given an input depth-image of an…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

Multisensory object-centric perception, reasoning, and interaction have been a key research topic in recent years. However, the progress in these directions is limited by the small set of objects available -- synthetic objects are not…

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…

6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evaluation of model performance, limiting research advancements.…

Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this…

Existing 3D pose datasets of object categories are limited to generic object types and lack of fine-grained information. In this work, we introduce a new large-scale dataset that consists of 409 fine-grained categories and 31,881 images…

We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…

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…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…