相关论文: EPro-PnP: Generalized End-to-End Probabilistic Per…

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…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

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…

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…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…

Most recent approaches to monocular 3D pose estimation rely on Deep Learning. They either train a Convolutional Neural Network to directly regress from image to 3D pose, which ignores the dependencies between human joints, or model these…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

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…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

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…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Even though 3D face reconstruction has achieved impressive progress, most orthogonal projection-based face reconstruction methods can not achieve accurate and consistent reconstruction results when the face is very close to the camera due…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

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…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…