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

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…

This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…

Salient object detection (SOD), which simulates the human visual perception system to locate the most attractive object(s) in a scene, has been widely applied to various computer vision tasks. Now, with the advent of depth sensors, depth…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

Traditional semantic image search methods aim to retrieve images that match the meaning of the text query. However, these methods typically search for objects on the whole image, without considering the localization of objects within the…

Perceiving 3D structures from RGB images based on CAD model primitives can enable an effective, efficient 3D object-based representation of scenes. However, current approaches rely on supervision from expensive annotations of CAD models…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

The goal of natural language semantic code search is to retrieve a semantically relevant code snippet from a fixed set of candidates using a natural language query. Existing approaches are neither effective nor efficient enough towards a…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

Convolutional Neural Networks (CNNs) have achieved superior performance on object image retrieval, while Bag-of-Words (BoW) models with handcrafted local features still dominate the retrieval of overlapping images in 3D reconstruction. In…

Similarity-preserving hashing is a widely-used method for nearest neighbour search in large-scale image retrieval tasks. There has been considerable research on generating efficient image representation via the deep-network-based hashing…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

This paper investigates, using prior shape models and the concept of ball scale (b-scale), ways of automatically recognizing objects in 3D images without performing elaborate searches or optimization. That is, the goal is to place the model…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…