相关论文: LanPose: Language-Instructed 6D Object Pose Estima…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

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…

Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose…

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…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

Driven by recent computer vision and robotic applications, recovering 3D human poses has become increasingly important and attracted growing interests. In fact, completing this task is quite challenging due to the diverse appearances,…

Estimating the pose of a pallet and other logistics objects is crucial for various use cases, such as automatized material handling or tracking. Innovations in computer vision, computing power, and machine learning open up new opportunities…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

In this paper, we present a simple but powerful method to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a novel convolutional neural network to regress the unit quaternion, which…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Estimating 3d human pose from monocular images is a challenging problem due to the variety and complexity of human poses and the inherent ambiguity in recovering depth from the single view. Recent deep learning based methods show promising…

We propose a method for estimating the 6DoF pose of a rigid object with an available 3D model from a single RGB image. Unlike classical correspondence-based methods which predict 3D object coordinates at pixels of the input image, the…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

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,…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…

Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…

In this paper, we proposed a pose estimation system based on rendered image training set, which predicts the pose of objects in real image, with knowledge of object category and tight bounding box. We developed a patch-based multi-class…

Automatically producing instructions to modify one's posture could open the door to endless applications, such as personalized coaching and in-home physical therapy. Tackling the reverse problem (i.e., refining a 3D pose based on some…