相关论文: 3D-Aware Hypothesis & Verification for Generalizab…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

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,…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

We propose a method to generate multiple diverse and valid human pose hypotheses in 3D all consistent with the 2D detection of joints in a monocular RGB image. We use a novel generative model uniform (unbiased) in the space of anatomically…

In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time,…

Can objects that are not visible in an image -- but are in the vicinity of the camera -- be detected? This study introduces the novel tasks of 2D, 2.5D and 3D unobserved object detection for predicting the location of nearby objects that…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

Human pose estimation from single images is a challenging problem that is typically solved by supervised learning. Unfortunately, labeled training data does not yet exist for many human activities since 3D annotation requires dedicated…

Estimating 3D human pose and shape from 2D images is a crucial yet challenging task. While prior methods with model-based representations can perform reasonably well on whole-body images, they often fail when parts of the body are occluded…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

In the rapidly advancing domain of computer vision, accurately estimating the poses of multiple individuals from various viewpoints remains a significant challenge, especially when reliability is a key requirement. This paper introduces a…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…