相关论文: BiCo-Net: Regress Globally, Match Locally for Robu…

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,…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

In this paper, we present MultiPoseNet, a novel bottom-up multi-person pose estimation architecture that combines a multi-task model with a novel assignment method. MultiPoseNet can jointly handle person detection, keypoint detection,…

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…

Recovering 3D human pose from 2D joints is a highly unconstrained problem. We propose a novel neural network framework, PoseNet3D, that takes 2D joints as input and outputs 3D skeletons and SMPL body model parameters. By casting our…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Object pose estimation is frequently achieved by first segmenting an RGB image and then, given depth data, registering the corresponding point cloud segment against the object's 3D model. Despite the progress due to CNNs, semantic…

In this work, we present FFB6D, a Full Flow Bidirectional fusion network designed for 6D pose estimation from a single RGBD image. Our key insight is that appearance information in the RGB image and geometry information from the depth image…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Person re-identification (reID) aims at retrieving a person from images captured by different cameras. For deep-learning-based reID methods, it has been proved that using local features together with global feature could help to give robust…

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…

We present a deep learning model, dubbed Glissando-Net, to simultaneously estimate the pose and reconstruct the 3D shape of objects at the category level from a single RGB image. Previous works predominantly focused on either estimating…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

The existing human pose estimation methods are confronted with inaccurate long-distance regression or high computational cost due to the complex learning objectives. This work proposes a novel deep learning framework for human pose…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…