相关论文: Robot Structure Prior Guided Temporal Attention fo…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Pose Machines provide a sequential prediction framework for learning rich implicit spatial models. In this work we show a systematic design for how convolutional networks can be incorporated into the pose machine framework for learning…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

This paper addresses the problem of handling spatial misalignments due to camera-view changes or human-pose variations in person re-identification. We first introduce a boosting-based approach to learn a correspondence structure which…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…

We propose an easy-to-use non-overlapping camera calibration method. First, successive images are fed to a PoseNet-based network to obtain ego-motion of cameras between frames. Next, the pose between cameras are estimated. Instead of using…

Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

This paper introduces a preprocessing technique to speed up Structure-from-Motion (SfM) based pose estimation, which is critical for real-time applications like augmented reality (AR), virtual reality (VR), and robotics. Our method…

Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…

We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

Despite recent progress, text-to-image models still struggle to generate semantically diverse and compositionally accurate multi-person interaction scenes, often collapsing to repetitive layouts, stereotypical poses, and poorly grounded…