相关论文: EPro-PnP: Generalized End-to-End Probabilistic Per…

This paper presents a generalizable RGB-based approach for object pose estimation, specifically designed to address challenges in sparse-view settings. While existing methods can estimate the poses of unseen objects, their generalization…

This paper presents KeypointNet, an end-to-end geometric reasoning framework to learn an optimal set of category-specific 3D keypoints, along with their detectors. Given a single image, KeypointNet extracts 3D keypoints that are optimized…

Finding correspondences between images or 3D scans is at the heart of many computer vision and image retrieval applications and is often enabled by matching local keypoint descriptors. Various learning approaches have been applied in the…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

Visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings.…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

Thanks to the development of 2D keypoint detectors, monocular 3D human pose estimation (HPE) via 2D-to-3D uplifting approaches have achieved remarkable improvements. Still, monocular 3D HPE is a challenging problem due to the inherent depth…

In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…