相关论文: Camera Pose Auto-Encoders for Improving Pose Regre…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

We propose an approach to generate images of people given a desired appearance and pose. Disentangled representations of pose and appearance are necessary to handle the compound variability in the resulting generated images. Hence, we…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…

A prior represents a set of beliefs or assumptions about a system, aiding inference and decision-making. In this paper, we introduce the challenge of unsupervised categorical prior learning in pose estimation, where AI models learn a…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Human motion prediction, which aims to predict future human poses given past poses, has recently seen increased interest. Many recent approaches are based on Recurrent Neural Networks (RNN) which model human poses with exponential maps.…

In this work, we propose HyperPose, which utilizes hyper-networks in absolute camera pose regressors. The inherent appearance variations in natural scenes, attributable to environmental conditions, perspective, and lighting, induce a…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

We propose the Encoder-Recurrent-Decoder (ERD) model for recognition and prediction of human body pose in videos and motion capture. The ERD model is a recurrent neural network that incorporates nonlinear encoder and decoder networks before…

In this paper, we are interested in the bottom-up paradigm of estimating human poses from an image. We study the dense keypoint regression framework that is previously inferior to the keypoint detection and grouping framework. Our…

Variational Autoencoders (VAEs) have seen widespread use in learned image compression. They are used to learn expressive latent representations on which downstream compression methods can operate with high efficiency. Recently proposed…

This paper addresses the task of relative camera pose estimation from raw image pixels, by means of deep neural networks. The proposed RPNet network takes pairs of images as input and directly infers the relative poses, without the need of…

Variational Autoencoders (VAEs) are powerful generative models that have been widely used in various fields, including image and text generation. However, one of the known challenges in using VAEs is the model's sensitivity to its…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…