相关论文: Multi-Modal Dataset Acquisition for Photometricall…

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D,…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

The development of autonomous vehicles generates a tremendous demand for a low-cost solution with a complete set of camera sensors capturing the environment around the car. It is essential for object detection and tracking to address these…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Recent advances of 3D acquisition devices have enabled large-scale acquisition of 3D scene data. Such data, if completely and well annotated, can serve as useful ingredients for a wide spectrum of computer vision and graphics works such as…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

We introduce a novel concept for motion robust optical 3D-sensing. The concept is based on multi-line triangulation. The aim is to evaluate a large number of projected lines (high data density) in a large measurement volume with high…

Multi-modal perception is essential for unmanned aerial vehicle (UAV) operations, as it enables a comprehensive understanding of the UAVs' surrounding environment. However, most existing multi-modal UAV datasets are primarily biased toward…

It is counter-intuitive that multi-modality methods based on point cloud and images perform only marginally better or sometimes worse than approaches that solely use point cloud. This paper investigates the reason behind this phenomenon.…

Most existing perception systems rely on sensory data acquired from cameras, which perform poorly in low light and adverse weather conditions. To resolve this limitation, we have witnessed advanced LiDAR sensors become popular in perception…

Monocular 3D detection relies on just a single camera and is therefore easy to deploy. Yet, achieving reliable 3D understanding from monocular images requires substantial annotation, and 3D labels are especially costly. To maximize…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Multimodal object recognition is still an emerging field. Thus, publicly available datasets are still rare and of small size. This dataset was developed to help fill this void and presents multimodal data for 63 objects with some visual and…

HO-3D is a dataset providing image sequences of various hand-object interaction scenarios annotated with the 3D pose of the hand and the object and was originally introduced as HO-3D_v2. The annotations were obtained automatically using an…

Achieving level-5 driving automation in autonomous vehicles necessitates a robust semantic visual perception system capable of parsing data from different sensors across diverse conditions. However, existing semantic perception datasets…