相关论文: Self-supervised learning of object pose estimation…

Reconstructing 3D models from 2D images is one of the fundamental problems in computer vision. In this work, we propose a deep learning technique for 3D object reconstruction from a single image. Contrary to recent works that either use 3D…

We propose a new self-supervised method for predicting 3D human body pose from a single image. The prediction network is trained from a dataset of unlabelled images depicting people in typical poses and a set of unpaired 2D poses. By…

Knowledge about the locations of keypoints of an object in an image can assist in fine-grained classification and identification tasks, particularly for the case of objects that exhibit large variations in poses that greatly influence their…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

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…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Semantic patterns of fine-grained objects are determined by subtle appearance difference of local parts, which thus inspires a number of part-based methods. However, due to uncontrollable object poses in images, distinctive details carried…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

The target of 2D human pose estimation is to locate the keypoints of body parts from input 2D images. State-of-the-art methods for pose estimation usually construct pixel-wise heatmaps from keypoints as labels for learning convolution…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Current state-of-the-art solutions for motion capture from a single camera are optimization driven: they optimize the parameters of a 3D human model so that its re-projection matches measurements in the video (e.g. person segmentation,…

We introduce a pretraining technique called Selfie, which stands for SELFie supervised Image Embedding. Selfie generalizes the concept of masked language modeling of BERT (Devlin et al., 2019) to continuous data, such as images, by making…

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…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…