相关论文: Weakly Supervised Learning of Keypoints for 6D Obj…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

We address the problem of weakly supervised object localization where only image-level annotations are available for training object detectors. Numerous methods have been proposed to tackle this problem through mining object proposals.…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

For many practical problems and applications, it is not feasible to create a vast and accurately labeled dataset, which restricts the application of deep learning in many areas. Semi-supervised learning algorithms intend to improve…

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…

Human pose estimation from single images is a challenging problem that is typically solved by supervised learning. Unfortunately, labeled training data does not yet exist for many human activities since 3D annotation requires dedicated…

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…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

Most existing weakly supervised localization (WSL) approaches learn detectors by finding positive bounding boxes based on features learned with image-level supervision. However, those features do not contain spatial location related…

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…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

For human pose estimation in still images, this paper proposes three semi- and weakly-supervised learning schemes. While recent advances of convolutional neural networks improve human pose estimation using supervised training data, our…

We present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose…

It is challenging for weakly supervised object detection network to precisely predict the positions of the objects, since there are no instance-level category annotations. Most existing methods tend to solve this problem by using a…

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii)…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…