相关论文: TransPoser: Transformer as an Optimizer for Joint …

Classification and localization of driving actions over time is important for advanced driver-assistance systems and naturalistic driving studies. Temporal localization is challenging because it requires robustness, reliability, and…

Recovering 3D object pose and shape from a single image is a challenging and ill-posed problem. This is due to strong (self-)occlusions, depth ambiguities, the vast intra- and inter-class shape variance, and the lack of 3D ground truth for…

This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic dataset of ship images is created and annotated with 2D…

Transformer architectures have become the model of choice in natural language processing and are now being introduced into computer vision tasks such as image classification, object detection, and semantic segmentation. However, in the…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

We present EgoPoseFormer, a simple yet effective transformer-based model for stereo egocentric human pose estimation. The main challenge in egocentric pose estimation is overcoming joint invisibility, which is caused by self-occlusion or a…

3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Recently, transformer networks have outperformed traditional deep neural networks in natural language processing and show a large potential in many computer vision tasks compared to convolutional backbones. In the original transformer,…

Recent advances in computer graphics and computer vision have found successful application of deep neural network models for 3D shapes based on signed distance functions (SDFs) that are useful for shape representation, retrieval, and…

How can we effectively utilise the 2D monocular image information for recovering the 6D pose (6-DoF) of the visual objects? Deep learning has shown to be effective for robust and real-time monocular pose estimation. Oftentimes, the network…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…

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…

It is difficult to precisely annotate object instances and their semantics in 3D space, and as such, synthetic data are extensively used for these tasks, e.g., category-level 6D object pose and size estimation. However, the easy annotations…

Image fusion is a technique to integrate information from multiple source images with complementary information to improve the richness of a single image. Due to insufficient task-specific training data and corresponding ground truth, most…

Transformer has achieved great success in computer vision, while how to split patches in an image remains a problem. Existing methods usually use a fixed-size patch embedding which might destroy the semantics of objects. To address this…

Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for pose and shape estimation of objects from RGB-D images…

The growing applications of AR/VR increase the demand for real-time full-body pose estimation from Head-Mounted Displays (HMDs). Although HMDs provide joint signals from the head and hands, reconstructing a full-body pose remains…