相关论文: Towards Deep Learning-based 6D Bin Pose Estimation…

Deep metric learning maps visually similar images onto nearby locations and visually dissimilar images apart from each other in an embedding manifold. The learning process is mainly based on the supplied image negative and positive training…

Deep learning approaches have been rapidly adopted across a wide range of fields because of their accuracy and flexibility, but require large labeled training datasets. This presents a fundamental problem for applications with limited,…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Image segmentation plays a pivotal role in several medical-imaging applications by assisting the segmentation of the regions of interest. Deep learning-based approaches have been widely adopted for semantic segmentation of medical data. In…

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Deep learning has recently gained high interest in ophthalmology, due to its ability to detect clinically significant features for diagnosis and prognosis. Despite these significant advances, little is known about the ability of various…

In this work, we introduce Deep Bingham Networks (DBN), a generic framework that can naturally handle pose-related uncertainties and ambiguities arising in almost all real life applications concerning 3D data. While existing works strive to…

Screening mammograms are a routine imaging exam performed to detect breast cancer in its early stages to reduce morbidity and mortality attributed to this disease. In order to maximize the efficacy of breast cancer screening programs,…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Estimation of optical aberrations from volumetric intensity images is a key step in sensorless adaptive optics for 3D microscopy. Recent approaches based on deep learning promise accurate results at fast processing speeds. However,…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

In bin-picking scenarios, multiple instances of an object of interest are stacked in a pile randomly, and hence, the instances are inherently subjected to the challenges: severe occlusion, clutter, and similar-looking distractors. Most…

We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we…

This paper addresses the problem of 3D human pose estimation in the wild. A significant challenge is the lack of training data, i.e., 2D images of humans annotated with 3D poses. Such data is necessary to train state-of-the-art CNN…

Convolutional Neural Network based approaches for monocular 3D human pose estimation usually require a large amount of training images with 3D pose annotations. While it is feasible to provide 2D joint annotations for large corpora of…

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…