相关论文: SDFEst: Categorical Pose and Shape Estimation of O…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

We propose a novel keypoint voting scheme based on intersecting spheres, that is more accurate than existing schemes and allows for fewer, more disperse keypoints. The scheme is based upon the distance between points, which as a 1D quantity…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Recent years have witnessed substantial progress in semantic image synthesis, it is still challenging in synthesizing photo-realistic images with rich details. Most previous methods focus on exploiting the given semantic map, which just…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

Rasterization based methods have recently enabled high-quality novel view synthesis at real-time rates, but their underlying volumetric primitives do not expose a direct, globally consistent surface representation, leaving sur face…

3D Hand pose estimation from a single depth image is an essential topic in computer vision and human-computer interaction. Although the rising of deep learning method boosts the accuracy a lot, the problem is still hard to solve due to the…

6D pose confidence region estimation has emerged as a critical direction, aiming to perform uncertainty quantification for assessing the reliability of estimated poses. However, current sampling-based approach suffers from critical…

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods…

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…

Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…

We present a novel 3D pose refinement approach based on differentiable rendering for objects of arbitrary categories in the wild. In contrast to previous methods, we make two main contributions: First, instead of comparing real-world images…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…