相关论文: Context-aware 6D Pose Estimation of Known Objects …

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

This paper presents a novel approach to estimating the continuous six degree of freedom (6-DoF) pose (3D translation and rotation) of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

A natural way to improve the detection of objects is to consider the contextual constraints imposed by the detection of additional objects in a given scene. In this work, we exploit the spatial relations between objects in order to improve…

The task of 6D object pose estimation from RGB images is an important requirement for autonomous service robots to be able to interact with the real world. In this work, we present a two-step pipeline for estimating the 6 DoF translation…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods…

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses. 6D pose estimation is an open challenge due to complex world…

Category-level object pose estimation, which predicts the pose of objects within a known category without prior knowledge of individual instances, is essential in applications like warehouse automation and manufacturing. Existing methods…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

In this paper, we present a simple but powerful method to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a novel convolutional neural network to regress the unit quaternion, which…