相关论文: Large-displacement 3D Object Tracking with Hybrid …

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

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)…

Deep learning inference that needs to largely take place on the 'edge' is a highly computational and memory intensive workload, making it intractable for low-power, embedded platforms such as mobile nodes and remote security applications.…

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…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Visual object tracking is a fundamental and time-critical vision task. Recent years have seen many shallow tracking methods based on real-time pixel-based correlation filters, as well as deep methods that have top performance but need a…

We propose a novel fast track finding system capable of reconstructing four dimensional particle trajectories in real time using precise space and time information of the hits. Recent developments in silicon pixel detectors achieved 150 ps…

In recent years, deep learning based visual tracking methods have obtained great success owing to the powerful feature representation ability of Convolutional Neural Networks (CNNs). Among these methods, classification-based tracking…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

We present PixTrack, a vision based object pose tracking framework using novel view synthesis and deep feature-metric alignment. We follow an SfM-based relocalization paradigm where we use a Neural Radiance Field to canonically represent…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…