相关论文: Next-Best-View Prediction for Active Stereo Camera…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…

One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…

For active optical imaging, the use of single-photon detectors can greatly improve the detection sensitivity of the system. However, the traditional maximum-likelihood based imaging method needs a long acquisition time to capture clear…

We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…

Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe…

Active stereo vision is important in reconstructing objects without obvious textures. However, it is still very challenging to extract and match the projected patterns from two camera views automatically and robustly. In this paper, we…

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…

Whether to attract viewer attention to a particular object, give the impression of depth or simply reproduce human-like scene perception, shallow depth of field images are used extensively by professional and amateur photographers alike. To…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

In recent years, deep learning methods bring incredible progress to the field of object detection. However, in the field of remote sensing image processing, existing methods neglect the relationship between imaging configuration and…

Estimating depth from RGB images is a long-standing ill-posed problem, which has been explored for decades by the computer vision, graphics, and machine learning communities. Among the existing techniques, stereo matching remains one of the…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…

We present a stereo-matching method for depth estimation from high-resolution images using visual hulls as priors, and a memory-efficient technique for the correlation computation. Our method uses object masks extracted from supplementary…