相关论文: RelPose++: Recovering 6D Poses from Sparse-view Ob…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

Despite progress in human motion capture, existing multi-view methods often face challenges in estimating the 3D pose and shape of multiple closely interacting people. This difficulty arises from reliance on accurate 2D joint estimations,…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

We present an approach to perform 3D pose estimation of multiple people from a few calibrated camera views. Our architecture, leveraging the recently proposed unprojection layer, aggregates feature-maps from a 2D pose estimator backbone…

In this paper, we propose a method for coarse camera pose computation 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 of robotics or augmented…