相关论文: KS-APR: Keyframe Selection for Robust Absolute Pos…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

The use of Augmented Reality (AR) devices for surgical guidance has gained increasing traction in the medical field. Traditional registration methods often rely on external fiducial markers to achieve high accuracy and real-time…

The use of wearable technology for posture monitoring has been expanding due to its low-intrusiveness and compliance with daily use requirements. However, there are still open challenges limiting its widespread use, especially when dealing…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Markerless augmented reality (AR) has the potential to provide engaging experiences and improve outcomes across a wide variety of industries; the overlaying of virtual content, or holograms, onto a view of the real world without the need…

In this paper, we are interested in the bottom-up paradigm of estimating human poses from an image. We study the dense keypoint regression framework that is previously inferior to the keypoint detection and grouping framework. Our…

For building a Augmented Reality (AR) pipeline, the most crucial step is the camera calibration as overall quality heavily depends on it. In turn camera calibration itself is influenced most by the choice of camera-to-pattern poses - yet…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

Visual Place Recognition (VPR) is critical for autonomous navigation, yet state-of-the-art methods lack well-calibrated uncertainty estimation. Standard pipelines cannot reliably signal when a query is ambiguous or a match is likely…

Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration.…

This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…

Background and aim: Image registration and alignment are the main limitations of augmented reality-based knee replacement surgery. This research aims to decrease the registration error, eliminate outcomes that are trapped in local minima to…

Identifying the camera pose for a given image is a challenging problem with applications in robotics, autonomous vehicles, and augmented/virtual reality. Lately, learning-based methods have shown to be effective for absolute camera pose…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

State-space models (SSM) are common in signal processing, where Kalman smoothing (KS) methods are state-of-the-art. However, traditional KS techniques lack expressivity as they do not incorporate spatial prior information. Recently, [1]…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Navigation inside a closed area with no GPS-signal accessibility is a highly challenging task. In order to tackle this problem, recently the imaging-based methods have grabbed the attention of many researchers. These methods either extract…