相关论文: Deep Learning for Real Time Satellite Pose Estimat…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

We present three multi-scale similarity learning architectures, or DeepSim networks. These models learn pixel-level matching with a contrastive loss and are agnostic to the geometry of the considered scene. We establish a middle ground…

Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…

We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods that completely replace a classical visual estimator with a…

In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…

Computing at the edge is important in remote settings, however, conventional hardware is not optimized for utilizing deep neural networks. The Google Edge TPU is an emerging hardware accelerator that is cost, power and speed efficient, and…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Modern satellites deployed in low Earth orbit (LEO) accommodate processing payloads that can be exploited for edge computing. Furthermore, by implementing inter-satellite links, the LEO satellites in a constellation can route the data…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

We present MovePose, an optimized lightweight convolutional neural network designed specifically for real-time body pose estimation on CPU-based mobile devices. The current solutions do not provide satisfactory accuracy and speed for human…

Modern Earth Observation (EO) missions generate massive volumes of imagery that challenge existing downlink and ground-processing capabilities, particularly for time-critical applications. This work investigates how a low Earth orbit (LEO)…

Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

Estimating camera wearer's body pose from an egocentric view (egopose) is a vital task in augmented and virtual reality. Existing approaches either use a narrow field of view front facing camera that barely captures the wearer, or an…

Head pose estimation is a challenging task that aims to solve problems related to predicting three dimensions vector, that serves for many applications in human-robot interaction or customer behavior. Previous researches have proposed some…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…

While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…