相关论文: DeepRM: Deep Recurrent Matching for 6D Pose Refine…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

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…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…

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…

Recent learning methods for object pose estimation require resource-intensive training for each individual object instance or category, hampering their scalability in real applications when confronted with previously unseen objects. In this…

In this work, we consider the image super-resolution (SR) problem. The main challenge of image SR is to recover high-frequency details of a low-resolution (LR) image that are important for human perception. To address this essentially…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

In this paper, we propose a two-stage depth ranking based method (DRPose3D) to tackle the problem of 3D human pose estimation. Instead of accurate 3D positions, the depth ranking can be identified by human intuitively and learned using the…

We propose a Pose-Free Large Reconstruction Model (PF-LRM) for reconstructing a 3D object from a few unposed images even with little visual overlap, while simultaneously estimating the relative camera poses in ~1.3 seconds on a single A100…

We design an Enriched Deep Recurrent Visual Attention Model (EDRAM) - an improved attention-based architecture for multiple object recognition. The proposed model is a fully differentiable unit that can be optimized end-to-end by using…

In industrial inspection and component alignment tasks, template matching requires efficient estimation of a target's position and geometric state (rotation and scaling) under complex backgrounds to support precise downstream operations.…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…