相关论文: HOC-Search: Efficient CAD Model and Pose Retrieval…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory optimization algorithm to evaluate the dynamic feasibility of…

Shape retrieval and alignment are a promising avenue towards turning 3D scans into lightweight CAD representations that can be used for content creation such as mobile or AR/VR gaming scenarios. Unfortunately, CAD model retrieval is limited…

Objects recognition in image is one of the most difficult problems in computer vision. It is also an important step for the implementation of several existing applications that require high-level image interpretation. Therefore, there is a…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

The traditional object retrieval task aims to learn a discriminative feature representation with intra-similarity and inter-dissimilarity, which supposes that the objects in an image are manually or automatically pre-cropped exactly.…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

The cost-effective visual representation and fast query-by-example search are two challenging goals that should be maintained for web-scale visual retrieval tasks on moderate hardware. This paper introduces a fast and robust method that…

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,…

Projective analysis is an important solution for 3D shape retrieval, since human visual perceptions of 3D shapes rely on various 2D observations from different view points. Although multiple informative and discriminative views are…

We introduce the first work to tackle the image retrieval problem as a continuous operation. While the proposed approaches in the literature can be roughly categorized into two main groups: category- and instance-based retrieval, in this…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

This paper addresses the issue of the real-time tracking quality of moving objects in large-scale video surveillance systems. During the tracking process, the system assigns an identifier or label to each tracked object to distinguish it…

Person search aims to simultaneously localize and identify a query person from realistic, uncropped images. To achieve this goal, state-of-the-art models typically add a re-id branch upon two-stage detectors like Faster R-CNN. Owing to the…