相关论文: AEP$n$P: A Less-constrained EP$n$P Solver for Pose…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

Blind-spot network (BSN) and its variants have made significant advances in self-supervised denoising. Nevertheless, they are still bound to synthetic noisy inputs due to less practical assumptions like pixel-wise independent noise. Hence,…

Category-Agnostic Pose Estimation (CAPE) aims to localize keypoints on an object of any category given few exemplars in an in-context manner. Prior arts involve sophisticated designs, e.g., sundry modules for similarity calculation and a…

We consider the problem of estimating object pose and shape from an RGB-D image. Our first contribution is to introduce CRISP, a category-agnostic object pose and shape estimation pipeline. The pipeline implements an encoder-decoder model…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

We introduce a class of specially structured linear programming (LP) problems, which has favorable modeling capability for important application problems in different areas such as optimal transport, discrete tomography and economics. To…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Exemplar-based models have achieved great success on localizing the parts of semi-rigid objects. However, their efficacy on highly articulated objects such as humans is yet to be explored. Inspired by hierarchical object representation and…

Plug-and-Play (PnP) is a non-convex optimization framework that combines proximal algorithms, for example, the alternating direction method of multipliers (ADMM), with advanced denoising priors. Over the past few years, great empirical…

This study presents significant enhancements in human pose estimation using the MediaPipe framework. The research focuses on improving accuracy, computational efficiency, and real-time processing capabilities by comprehensively optimising…

Plug-and-play priors (PnP) is a broadly applicable methodology for solving inverse problems by exploiting statistical priors specified as denoisers. Recent work has reported the state-of-the-art performance of PnP algorithms using…

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…

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…

The emergence of diffusion models has enabled the generation of diverse high-quality images solely from text, prompting subsequent efforts to enhance the controllability of these models. Despite the improvement in controllability, pose…