相关论文: CPPF++: Uncertainty-Aware Sim2Real Object Pose Est…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

The estimation of 6D object poses is a fundamental task in many computer vision applications. Particularly, in high risk scenarios such as human-robot interaction, industrial inspection, and automation, reliable pose estimates are crucial.…

A recent approach for object detection and human pose estimation is to regress bounding boxes or human keypoints from a central point on the object or person. While this center-point regression is simple and efficient, we argue that the…

Dense human pose estimation is the problem of learning dense correspondences between RGB images and the surfaces of human bodies, which finds various applications, such as human body reconstruction, human pose transfer, and human action…

Category-level object pose estimation aims to recover the rotation, translation and size of unseen instances within predefined categories. In this task, deep neural network-based methods have demonstrated remarkable performance. However,…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evaluation of model performance, limiting research advancements.…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Image-based object pose estimation sounds amazing because in real applications the shape of object is oftentimes not available or not easy to take like photos. Although it is an advantage to some extent, un-explored shape information in 3D…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

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…

One critical challenge in 6D object pose estimation from a single RGBD image is efficient integration of two different modalities, i.e., color and depth. In this work, we tackle this problem by a novel Deep Fusion Transformer~(DFTr) block…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

3D hand pose estimation from single depth is a fundamental problem in computer vision, and has wide applications.However, the existing methods still can not achieve satisfactory hand pose estimation results due to view variation and…

An unsupervised point cloud object retrieval and pose estimation method, called PCRP, is proposed in this work. It is assumed that there exists a gallery point cloud set that contains point cloud objects with given pose orientation…

Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…