相关论文: SurfEmb: Dense and Continuous Correspondence Distr…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

Dense correspondence between humans carries powerful semantic information that can be utilized to solve fundamental problems for full-body understanding such as in-the-wild surface matching, tracking and reconstruction. In this paper we…

Object pose distribution estimation is crucial in robotics for better path planning and handling of symmetric objects. Recent distribution estimation approaches employ contrastive learning-based approaches by maximizing the likelihood of a…

In this work we integrate ideas from surface-based modeling with neural synthesis: we propose a combination of surface-based pose estimation and deep generative models that allows us to perform accurate pose transfer, i.e. synthesize a new…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

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…

In pose estimation for seen objects, a prevalent pipeline involves using neural networks to predict dense 3D coordinates of the object surface on 2D images, which are then used to establish dense 2D-3D correspondences. However, current…

Establishing dense correspondences between a pair of images is an important and general problem. However, dense flow estimation is often inaccurate in the case of large displacements or homogeneous regions. For most applications and…

Dense correspondence across semantically related images has been extensively studied, but still faces two challenges: 1) large variations in appearance, scale and pose exist even for objects from the same category, and 2) labeling…

In this paper, we address the problem of learning 3D human pose and body shape from 2D image dataset, without having to use 3D dataset (body shape and pose). The idea is to use dense correspondences between image points and a body surface,…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

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…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

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…

The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in…

Statistical shape modeling (SSM) is a powerful computational framework for quantifying and analyzing the geometric variability of anatomical structures, facilitating advancements in medical research, diagnostics, and treatment planning.…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…