相关论文: CLIFF: Carrying Location Information in Full Frame…

Open-world object detection (OWOD) extends traditional object detection to identifying both known and unknown object, necessitating continuous model adaptation as new annotations emerge. Current approaches face significant limitations: 1)…

Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional…

This paper focuses on spatially consistent hundreds of human pose and shape reconstruction from a single large-scene image with various human scales under arbitrary camera FoVs (Fields of View). Due to the small and highly varying 2D human…

Current state-of-the-art segmentation models encode entire images before focusing on specific objects. As a result, they waste computational resources - particularly when small objects are to be segmented in high-resolution scenes. We…

Maps of dynamics are effective representations of motion patterns learned from prior observations, with recent research demonstrating their ability to enhance various downstream tasks such as human-aware robot navigation, long-term human…

Worldwide geo-localization involves determining the exact geographic location of images captured globally, typically guided by geographic cues such as climate, landmarks, and architectural styles. Despite advancements in geo-localization…

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

The estimation of 3D human motion from video has progressed rapidly but current methods still have several key limitations. First, most methods estimate the human in camera coordinates. Second, prior work on estimating humans in global…

We propose a novel efficient and lightweight model for human pose estimation from a single image. Our model is designed to achieve competitive results at a fraction of the number of parameters and computational cost of various…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

The typical bottom-up human pose estimation framework includes two stages, keypoint detection and grouping. Most existing works focus on developing grouping algorithms, e.g., associative embedding, and pixel-wise keypoint regression that we…

We address the challenge of accurate 3D human pose and shape estimation from monocular images. The key to accuracy and robustness lies in high-quality training data. Existing training datasets containing real images with pseudo ground truth…

This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…

In sports analytics, accurately capturing both the 3D locations and rotations of body joints is essential for understanding an athlete's biomechanics. While Human Mesh Recovery (HMR) models can estimate joint rotations, they often exhibit…

In this paper, we present a spatial rectifier to estimate surface normals of tilted images. Tilted images are of particular interest as more visual data are captured by arbitrarily oriented sensors such as body-/robot-mounted cameras.…

Considering visual localization accuracy at the planning time gives preference to robot motion that can be better localized and thus has the potential of improving vision-based navigation, especially in visually degraded environments. To…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

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.…