相关论文: A Flexible-Frame-Rate Vision-Aided Inertial Object…
In this paper, we address the problem of detecting unseen objects from RGB images and estimating their poses in 3D. We propose two mobile friendly networks: MobilePose-Base and MobilePose-Shape. The former is used when there is only pose…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
In surveillance and search and rescue applications, it is important to perform multi-target tracking (MOT) in real-time on low-end devices. Today's MOT solutions employ deep neural networks, which tend to have high computation complexity.…
Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…
Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…
Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…
Motion capture using sparse inertial sensors has shown great promise due to its portability and lack of occlusion issues compared to camera-based tracking. Existing approaches typically assume that IMU sensors are tightly attached to the…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
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…
Augmented Reality has been subject to various integration efforts within industries due to its ability to enhance human machine interaction and understanding. Neural networks have achieved remarkable results in areas of computer vision,…
Gaze tracking is increasingly becoming an essential component in Augmented and Virtual Reality. Modern gaze tracking al gorithms are heavyweight; they operate at most 5 Hz on mobile processors despite that near-eye cameras comfortably…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…