相关论文: A Probabilistic Relaxation of the Two-Stage Object…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

For robots to operate robustly in the real world, they should be aware of their uncertainty. However, most methods for object pose estimation return a single point estimate of the object's pose. In this work, we propose two learned methods…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…

Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…

Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…

The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…

In Multi-Person Pose Estimation, many metrics place importance on ranking of pose detection confidence scores. Current metrics tend to disregard false-positive poses with low confidence, focusing primarily on a larger number of…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

In this paper we consider the problem of human pose estimation from a single still image. We propose a novel approach where each location in the image votes for the position of each keypoint using a convolutional neural net. The voting…

Despite the ability of text-to-image models to generate high-quality, realistic, and diverse images, they face challenges in compositional generation, often struggling to accurately represent details specified in the input prompt. A…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

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 study the problem of multi-person pose estimation in natural images. A pose estimate describes the spatial position and identity (head, foot, knee, etc.) of every non-occluded body part of a person. Pose estimation is difficult due to…

We propose the task of forecasting characteristic 3d poses: from a short sequence observation of a person, predict a future 3d pose of that person in a likely action-defining, characteristic pose -- for instance, from observing a person…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

We propose a flexible convex relaxation for the phase retrieval problem that operates in the natural domain of the signal. Therefore, we avoid the prohibitive computational cost associated with "lifting" and semidefinite programming (SDP)…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…