相关论文: Learning Implicit Probability Distribution Functio…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…

We introduce Any6D, a model-free framework for 6D object pose estimation that requires only a single RGB-D anchor image to estimate both the 6D pose and size of unknown objects in novel scenes. Unlike existing methods that rely on textured…

While much progress has been made in 6-DoF object pose estimation from a single RGB image, the current leading approaches heavily rely on real-annotation data. As such, they remain sensitive to severe occlusions, because covering all…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

We consider the problem of training a fully convolutional network to estimate the relative 6D pose of a robot given a camera image, when the robot is equipped with independent controllable LEDs placed in different parts of its body. The…

Existing point cloud semantic segmentation networks cannot identify unknown classes and update their knowledge, due to a closed-set and static perspective of the real world, which would induce the intelligent agent to make bad decisions. To…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

In this paper we explore the applicability of the unsupervised machine learning technique of Self Organizing Maps (SOM) to estimate galaxy photometric redshift probability density functions (PDFs). This technique takes a spectroscopic…

Recent advances in machine learning have greatly benefited object detection and 6D pose estimation. However, textureless and metallic objects still pose a significant challenge due to few visual cues and the texture bias of CNNs. To address…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

Despite the superior performance of Deep Learning (DL) on numerous segmentation tasks, the DL-based approaches are notoriously overconfident about their prediction with highly polarized label probability. This is often not desirable for…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

In this paper, we propose a method for initial camera pose estimation from just a single image 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…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Most recent 6D object pose estimation methods, including unsupervised ones, require many real training images. Unfortunately, for some applications, such as those in space or deep under water, acquiring real images, even unannotated, is…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods…

One of the key criticisms of deep learning is that large amounts of expensive and difficult-to-acquire training data are required in order to train models with high performance and good generalization capabilities. Focusing on the task of…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…