相关论文: SPARC: Sparse Render-and-Compare for CAD model ali…

The sparse representation classifier (SRC) is shown to work well for image recognition problems that satisfy a subspace assumption. In this paper we propose a new implementation of SRC via screening, establish its equivalence to the…

Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…

Despite strong empirical performance for image classification, deep neural networks are often regarded as ``black boxes'' and they are difficult to interpret. On the other hand, sparse convolutional models, which assume that a signal can be…

Sparse Representation (or coding) based Classification (SRC) has gained great success in face recognition in recent years. However, SRC emphasizes the sparsity too much and overlooks the correlation information which has been demonstrated…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Recently, regression-based methods have dominated the field of 3D human pose and shape estimation. Despite their promising results, a common issue is the misalignment between predictions and image observations, often caused by minor joint…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

We propose an approach to predict the 3D shape and pose for the objects present in a scene. Existing learning based methods that pursue this goal make independent predictions per object, and do not leverage the relationships amongst them.…

We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which regions actually support, contain, or contact one another, leading…

Recent image classification algorithms, by learning deep features from large-scale datasets, have achieved significantly better results comparing to the classic feature-based approaches. However, there are still various challenges of image…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…