相关论文: ShAPO: Implicit Representations for Multi-Object S…

Discovering object-centric representations from images can significantly enhance the robustness, sample efficiency and generalizability of vision models. Works on images with multi-part objects typically follow an implicit object…

6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications. The state-of-the-art models for pose estimation are convolutional neural network (CNN)-based. Lately, Transformers, an architecture…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

We propose BAPose, a novel bottom-up approach that achieves state-of-the-art results for multi-person pose estimation. Our end-to-end trainable framework leverages a disentangled multi-scale waterfall architecture and incorporates adaptive…

Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

In keypoint estimation tasks such as human pose estimation, heatmap-based regression is the dominant approach despite possessing notable drawbacks: heatmaps intrinsically suffer from quantization error and require excessive computation to…

Accurately recovering the full 9-DoF pose of unseen instances within specific categories from a single RGB image remains a core challenge for robotics and automation. Most existing solutions still rely on pseudo-depth, CAD models, or…

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

We present an approach to infer the 3D shape, texture, and camera pose for an object from a single RGB image, using only category-level image collections with foreground masks as supervision. We represent the shape as an image-conditioned…

Efficient and accurate object pose estimation is an essential component for modern vision systems in many applications such as Augmented Reality, autonomous driving, and robotics. While research in model-based 6D object pose estimation has…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images. GigaPose first leverages discriminative "templates", rendered images of the CAD models, to recover the out-of-plane rotation…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

A key challenge in the task of human pose and shape estimation is occlusion, including self-occlusions, object-human occlusions, and inter-person occlusions. The lack of diverse and accurate pose and shape training data becomes a major…