相关论文: Uni6Dv2: Noise Elimination for 6D Pose Estimation

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

Recently, denoising methods based on supervised learning have exhibited promising performance. However, their reliance on external datasets containing noisy-clean image pairs restricts their applicability. To address this limitation,…

Noisy images processing is a fundamental task of computer vision. The first example is the detection of faint edges in noisy images, a challenging problem studied in the last decades. A recent study introduced a fast method to detect faint…

This paper proposes a new method for accurate and robust 6D pose estimation of novel objects, named GS2Pose. By introducing 3D Gaussian splatting, GS2Pose can utilize the reconstruction results without requiring a high-quality CAD model,…

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…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising that addresses the critical challenge of limited availability of clean data.…

Most recent 6D pose estimation frameworks first rely on a deep network to establish correspondences between 3D object keypoints and 2D image locations and then use a variant of a RANSAC-based Perspective-n-Point (PnP) algorithm. This…

In this paper, we propose a state-of-the-art video denoising algorithm based on a convolutional neural network architecture. Until recently, video denoising with neural networks had been a largely under explored domain, and existing methods…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

The non-uniform photoelectric response of infrared imaging systems results in fixed-pattern stripe noise being superimposed on infrared images, which severely reduces image quality. As the applications of degraded infrared images are…

During a surface acquisition process using 3D scanners, noise is inevitable and an important step in geometry processing is to remove these noise components from these surfaces (given as points-set or triangulated mesh). The noise-removal…

3D point clouds are often perturbed by noise due to the inherent limitation of acquisition equipments, which obstructs downstream tasks such as surface reconstruction, rendering and so on. Previous works mostly infer the displacement of…

Modern digital cameras rely on the sequential execution of separate image processing steps to produce realistic images. The first two steps are usually related to denoising and demosaicking where the former aims to reduce noise from the…

Real noisy-clean pairs on a large scale are costly and difficult to obtain. Meanwhile, supervised denoisers trained on synthetic data perform poorly in practice. Self-supervised denoisers, which learn only from single noisy images, solve…

6D pose estimation from a single RGB image is a challenging and vital task in computer vision. The current mainstream deep model methods resort to 2D images annotated with real-world ground-truth 6D object poses, whose collection is fairly…

Image denoising can remove natural noise that widely exists in images captured by multimedia devices due to low-quality imaging sensors, unstable image transmission processes, or low light conditions. Recent works also find that image…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…