相关论文: Category-Level 6D Object Pose and Size Estimation …

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses…

Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…

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…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

Deep learning generates state-of-the-art semantic segmentation provided that a large number of images together with pixel-wise annotations are available. To alleviate the expensive data collection process, we propose a semi-supervised…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

Underwater mine detection with deep learning suffers from limitations due to the scarcity of real-world data. This scarcity leads to overfitting, where models perform well on training data but poorly on unseen data. This paper proposes a…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

Deep neural networks (DNNs) can learn accurately from large quantities of labeled input data, but often fail to do so when labelled data are scarce. DNNs sometimes fail to generalize ontest data sampled from different input distributions.…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

Domain adaptation methods for 2D human pose estimation typically require continuous access to the source data during adaptation, which can be challenging due to privacy, memory, or computational constraints. To address this limitation, we…

In this paper, we propose a novel system named Disp R-CNN for 3D object detection from stereo images. Many recent works solve this problem by first recovering a point cloud with disparity estimation and then apply a 3D detector. The…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Existing domain adaptation (DA) and generalization (DG) methods in object detection enforce feature alignment in the visual space but face challenges like object appearance variability and scene complexity, which make it difficult to…

Deep learning based object detectors struggle generalizing to a new target domain bearing significant variations in object and background. Most current methods align domains by using image or instance-level adversarial feature alignment.…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

Scene segmentation via unsupervised domain adaptation (UDA) enables the transfer of knowledge acquired from source synthetic data to real-world target data, which largely reduces the need for manual pixel-level annotations in the target…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…