相关论文: SliceMatch: Geometry-guided Aggregation for Cross-…

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…

6DoF object pose estimation is fundamental to robotic grasp tasks. While recent learning-based methods achieve high accuracy, their computational demands hinder deployment on resource-constrained mobile platforms. In this work, we revisit…

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…

Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models…

In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Numerous computer vision applications rely on local feature descriptors, such as SIFT, SURF or FREAK, for image matching. Although their local character makes image matching processes more robust to occlusions, it often leads to…

This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Novel View Synthesis (NVS) can reconstruct scenes from multi-view images and synthesize novel images from new viewpoints, which provides technical support for tasks such as target recognition and environmental perception. Aerial remote…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Generating ground-level views and coherent 3D site models from aerial-only imagery is challenging due to extreme viewpoint changes, missing intermediate observations, and large scale variations. Existing methods either refine renderings…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

We introduce a novel strategy for learning to extract semantically meaningful features from aerial imagery. Instead of manually labeling the aerial imagery, we propose to predict (noisy) semantic features automatically extracted from…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Detection of small objects and objects far away in the scene is a major challenge in surveillance applications. Such objects are represented by small number of pixels in the image and lack sufficient details, making them difficult to detect…