相关论文: PoserNet: Refining Relative Camera Poses Exploitin…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

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…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Head poses are a key component of human bodily communication and thus a decisive element of human-computer interaction. Real-time head pose estimation is crucial in the context of human-robot interaction or driver assistance systems. The…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Current deep neural network approaches for camera pose estimation rely on scene structure for 3D motion estimation, but this decreases the robustness and thereby makes cross-dataset generalization difficult. In contrast, classical…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

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…

Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is…

We investigate the performance of image-based pose regressor models in underwater environments for relocalization. Leveraging PoseNet and PoseLSTM, we regress a 6-degree-of-freedom pose from single RGB images with high accuracy.…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

This work investigates the impact of the loss function on the performance of Neural Networks, in the context of a monocular, RGB-only, image localization task. A common technique used when regressing a camera's pose from an image is to…

Fusing multi-modality inputs from different sensors is an effective way to improve the performance of 3D object detection. However, current methods overlook two important conflicts: point-pixel misalignment and sub-task suppression. The…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…

This paper addresses the challenge of 6DoF pose estimation from a single RGB image under severe occlusion or truncation. Many recent works have shown that a two-stage approach, which first detects keypoints and then solves a…

We investigate the problem of automatically placing an object into a background image for image compositing. Given a background image and a segmented object, the goal is to train a model to predict plausible placements (location and scale)…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…