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

Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration.…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

Dramatic appearance variation due to pose constitutes a great challenge in fine-grained recognition, one which recent methods using attention mechanisms or second-order statistics fail to adequately address. Modern CNNs typically lack an…

Dense human pose estimation is the problem of learning dense correspondences between RGB images and the surfaces of human bodies, which finds various applications, such as human body reconstruction, human pose transfer, and human action…

Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…

This paper presents a novel end-to-end framework with Explicit box Detection for multi-person Pose estimation, called ED-Pose, where it unifies the contextual learning between human-level (global) and keypoint-level (local) information.…

Vision-based monocular human pose estimation, as one of the most fundamental and challenging problems in computer vision, aims to obtain posture of the human body from input images or video sequences. The recent developments of deep…

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…

We present a self-supervised learning algorithm for 3D human pose estimation of a single person based on a multiple-view camera system and 2D body pose estimates for each view. To train our model, represented by a deep neural network, we…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

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, a novel deep-learning based framework is proposed to infer 3D human poses from a single image. Specifically, a two-phase approach is developed. We firstly utilize a generator with two branches for the extraction of explicit…

3D pose estimation from a single image is a challenging task in computer vision. We present a weakly supervised approach to estimate 3D pose points, given only 2D pose landmarks. Our method does not require correspondences between 2D and 3D…

How can we effectively utilise the 2D monocular image information for recovering the 6D pose (6-DoF) of the visual objects? Deep learning has shown to be effective for robust and real-time monocular pose estimation. Oftentimes, the network…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive…

Radar-based human pose estimation enables privacy-preserving motion tracking for ambient intelligence, yet the noisy nature of radar sensing makes uncertainty quantification essential. We present RadProPoser, an end-to-end probabilistic…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

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…