相关论文: Certifiable 3D Object Pose Estimation: Foundations…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

An algorithm to estimate the evolution of learning curves on the whole of a training data base, based on the results obtained from a portion and using a functional strategy, is introduced. We approximate iteratively the sought value at the…

While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc.…

Finding correspondences between images or 3D scans is at the heart of many computer vision and image retrieval applications and is often enabled by matching local keypoint descriptors. Various learning approaches have been applied in the…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

Learning-based methods have dominated the 3D human pose estimation (HPE) tasks with significantly better performance in most benchmarks than traditional optimization-based methods. Nonetheless, 3D HPE in the wild is still the biggest…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

In this work, we tackle the challenging problem of category-level object pose and size estimation from a single depth image. Although previous fully-supervised works have demonstrated promising performance, collecting ground-truth pose…

Conformal Prediction (CP) is a distribution-free method for constructing prediction sets with marginal finite-sample coverage guarantees, making it a suitable framework for reliable uncertainty quantification in safety-critical object…

Human 3D pose estimation from a single image is a challenging task with numerous applications. Convolutional Neural Networks (CNNs) have recently achieved superior performance on the task of 2D pose estimation from a single image, by…

We introduce the new setting of open-vocabulary object 6D pose estimation, in which a textual prompt is used to specify the object of interest. In contrast to existing approaches, in our setting (i) the object of interest is specified…

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…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…

Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…