相关论文: ViHOPE: Visuotactile In-Hand Object 6D Pose Estima…

Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are…

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…

Tactile sensing provides local essential information that is complementary to visual perception, such as texture, compliance, and force. Despite recent advances in visuotactile representation learning, challenges remain in fusing these…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Shape completion, a crucial task in 3D computer vision, involves predicting and filling the missing regions of scanned or partially observed objects. Current methods expect known pose or canonical coordinates and do not perform well under…

We present V-HPOT, a novel approach for improving the cross-domain performance of 3D hand pose estimation from egocentric images across diverse, unseen domains. State-of-the-art methods demonstrate strong performance when trained and tested…

3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. Existing methods addressing it directly regress hand meshes via 2D convolutional neural networks, which leads…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

In this paper, we show the surprisingly good properties of plain vision transformers for body pose estimation from various aspects, namely simplicity in model structure, scalability in model size, flexibility in training paradigm, and…

We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images. GigaPose first leverages discriminative "templates", rendered images of the CAD models, to recover the out-of-plane rotation…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

Video-based human pose estimation models aim to address scenarios that cannot be effectively solved by static image models such as motion blur, out-of-focus and occlusion. Most existing approaches consist of two stages: detecting human…

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this…

6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evaluation of model performance, limiting research advancements.…