相关论文: HS-Pose: Hybrid Scope Feature Extraction for Categ…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

In this paper, we propose a novel graph convolutional network architecture, Graph Stacked Hourglass Networks, for 2D-to-3D human pose estimation tasks. The proposed architecture consists of repeated encoder-decoder, in which…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Hand-object pose estimation (HOPE) aims to jointly detect the poses of both a hand and of a held object. In this paper, we propose a lightweight model called HOPE-Net which jointly estimates hand and object pose in 2D and 3D in real-time.…

Empowering autonomous agents with 3D understanding for daily objects is a grand challenge in robotics applications. When exploring in an unknown environment, existing methods for object pose estimation are still not satisfactory due to the…

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object…

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…

We introduce a new method for category-level pose estimation which produces a distribution over predicted poses by integrating 3D shape estimates from a generative object model with segmentation information. Given an input depth-image of an…

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…

Given a single scene image, this paper proposes a method of Category-level 6D Object Pose and Size Estimation (COPSE) from the point cloud of the target object, without external real pose-annotated training data. Specifically, beyond the…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

A key challenge in model-free category-level pose estimation is the extraction of contextual object features that generalize across varying instances within a specific category. Recent approaches leverage foundational features to capture…

Nowadays it is prevalent to take features extracted from pre-trained deep learning models as image representations which have achieved promising classification performance. Existing methods usually consider either object-based features or…

In spite of the recent progresses on classifying 3D point cloud with deep CNNs, large geometric transformations like rotation and translation remain challenging problem and harm the final classification performance. To address this…

Most previous works of outdoor instance segmentation for images only use color information. We explore a novel direction of sensor fusion to exploit stereo cameras. Geometric information from disparities helps separate overlapping objects…

We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape…

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

In recent years, a plethora of diverse methods have been proposed for 3D pose estimation. Among these, self-attention mechanisms and graph convolutions have both been proven to be effective and practical methods. Recognizing the strengths…