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

We consider the task of estimating 3D human pose and shape from videos. While existing frame-based approaches have made significant progress, these methods are independently applied to each image, thereby often leading to inconsistent…

Self-supervised prediction is a powerful mechanism to learn representations that capture the underlying structure of the data. Despite recent progress, the self-supervised video prediction task is still challenging. One of the critical…

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the…

In this work, we demonstrate that 3D poses in video can be effectively estimated with a fully convolutional model based on dilated temporal convolutions over 2D keypoints. We also introduce back-projection, a simple and effective…

Understanding the 3D world without supervision is currently a major challenge in computer vision as the annotations required to supervise deep networks for tasks in this domain are expensive to obtain on a large scale. In this paper, we…

Estimating 3D hand and object pose from a single image is an extremely challenging problem: hands and objects are often self-occluded during interactions, and the 3D annotations are scarce as even humans cannot directly label the…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Despite the success in 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects and real world scenarios. The primary bottlenecks include 1) the ambiguity…

We propose a self-supervised approach for learning representations of objects from monocular videos and demonstrate it is particularly useful in situated settings such as robotics. The main contributions of this paper are: 1) a…

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…

Video Object Segmentation (VOS) has been targeted by various fully-supervised and self-supervised approaches. While fully-supervised methods demonstrate excellent results, self-supervised ones, which do not use pixel-level ground truth,…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

We observe that human poses exhibit strong group-wise structural correlation and spatial coupling between keypoints due to the biological constraints of different body parts. This group-wise structural correlation can be explored to improve…

This paper addresses the problem of self-supervised video representation learning from a new perspective -- by video pace prediction. It stems from the observation that human visual system is sensitive to video pace, e.g., slow motion, a…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…