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

Image representation is critical for many visual tasks. Instead of representing images discretely with 2D arrays of pixels, a recent study, namely local implicit image function (LIIF), denotes images as a continuous function where pixel…

The existing human pose estimation methods are confronted with inaccurate long-distance regression or high computational cost due to the complex learning objectives. This work proposes a novel deep learning framework for human pose…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…

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)…

Estimating 3d human pose from monocular images is a challenging problem due to the variety and complexity of human poses and the inherent ambiguity in recovering depth from the single view. Recent deep learning based methods show promising…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

Human pose estimation is a critical tool across a variety of healthcare applications. Despite significant progress in pose estimation algorithms targeting adults, such developments for infants remain limited. Existing algorithms for infant…

Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…

CLIP retrieval is typically framed as a pointwise similarity problem in a shared embedding space. While CLIP achieves strong global cross-modal alignment, many retrieval failures arise from local geometric inconsistencies: nearby items are…

We present SLOPER4D, a novel scene-aware dataset collected in large urban environments to facilitate the research of global human pose estimation (GHPE) with human-scene interaction in the wild. Employing a head-mounted device integrated…

3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…

Human pose capture is essential for sports analysis, enabling precise evaluation of athletes' movements. While deep learning-based human pose estimation (HPE) models from RGB videos have achieved impressive performance on public datasets,…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

In this work, we demonstrate that 3D poses in video can be effectively estimated with a fully convolutional model based on dilated temporal convolutions over 2D keypoints. We also introduce back-projection, a simple and effective…