相关论文: TRansPose: Large-Scale Multispectral Dataset for T…

Transparent objects are ubiquitous in household settings and pose distinct challenges for visual sensing and perception systems. The optical properties of transparent objects leave conventional 3D sensors alone unreliable for object depth…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

We introduce T-LESS, a new public dataset for estimating the 6D pose, i.e. translation and rotation, of texture-less rigid objects. The dataset features thirty industry-relevant objects with no significant texture and no discriminative…

Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

We present a diverse dataset of industrial metal objects. These objects are symmetric, textureless and highly reflective, leading to challenging conditions not captured in existing datasets. Our dataset contains both real-world and…

Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…

We introduce OpenIllumination, a real-world dataset containing over 108K images of 64 objects with diverse materials, captured under 72 camera views and a large number of different illuminations. For each image in the dataset, we provide…

We present a large-scale stereo RGB image object pose estimation dataset named the $\textbf{StereOBJ-1M}$ dataset. The dataset is designed to address challenging cases such as object transparency, translucency, and specular reflection, in…

Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…

Human motion generation has shown great advances thanks to the recent diffusion models trained on large-scale motion capture data. Most of existing works, however, currently target animation of isolated people in empty scenes. Meanwhile,…

Human pose estimation faces hurdles in real-world applications due to factors like lighting changes, occlusions, and cluttered environments. We introduce a unique RGB-Thermal Nearly Paired and Annotated 2D Pose Dataset, comprising over…

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…

Achieving robust and accurate spatial perception under adverse weather and lighting conditions is crucial for the high-level autonomy of self-driving vehicles and robots. However, existing perception algorithms relying on the visible…

Transparent object perception is a crucial skill for applications such as robot manipulation in household and laboratory settings. Existing methods utilize RGB-D or stereo inputs to handle a subset of perception tasks including depth and…

Transparent objects remain notoriously hard for perception systems: refraction, reflection and transmission break the assumptions behind stereo, ToF and purely discriminative monocular depth, causing holes and temporally unstable estimates.…

Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major challenge. Currently, most commercial-grade depth cameras are…

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…

Visual object tracking has focused predominantly on opaque objects, while transparent object tracking received very little attention. Motivated by the uniqueness of transparent objects in that their appearance is directly affected by the…

Accurately modeling how real-world materials reflect light remains a core challenge in inverse rendering, largely due to the scarcity of real measured reflectance data. Existing approaches rely heavily on synthetic datasets with simplified…