相关论文: OSSID: Online Self-Supervised Instance Detection b…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Estimating 3D human poses from a monocular video is still a challenging task. Many existing methods' performance drops when the target person is occluded by other objects, or the motion is too fast/slow relative to the scale and speed of…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

Weakly supervised object detection (WSOD) using only image-level annotations has attracted growing attention over the past few years. Existing approaches using multiple instance learning easily fall into local optima, because such mechanism…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Recent developments for Semi-Supervised Object Detection (SSOD) have shown the promise of leveraging unlabeled data to improve an object detector. However, thus far these methods have assumed that the unlabeled data does not contain…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

Occlusions are a significant challenge to human pose estimation algorithms, often resulting in inaccurate and anatomically implausible poses. Although current occlusion-robust human pose estimation algorithms exhibit impressive performance…

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…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

Semi-Supervised Object Detection (SSOD), aiming to explore unlabeled data for boosting object detectors, has become an active task in recent years. However, existing SSOD approaches mainly focus on horizontal objects, leaving multi-oriented…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

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…