相关论文: Object Pose Estimation Annotation Pipeline for Mul…

The best performing methods for 3D human pose estimation from monocular images require large amounts of in-the-wild 2D and controlled 3D pose annotated datasets which are costly and require sophisticated systems to acquire. To reduce this…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

As the number of installed cameras grows, so do the compute resources required to process and analyze all the images captured by these cameras. Video analytics enables new use cases, such as smart cities or autonomous driving. At the same…

Estimating 3D hand and object pose from a single image is an extremely challenging problem: hands and objects are often self-occluded during interactions, and the 3D annotations are scarce as even humans cannot directly label the…

Object category localization is a challenging problem in computer vision. Standard supervised training requires bounding box annotations of object instances. This time-consuming annotation process is sidestepped in weakly supervised…

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based…

Accurate 7DoF prediction of vehicles at an intersection is an important task for assessing potential conflicts between road users. In principle, this could be achieved by a single camera system that is capable of detecting the pose of each…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

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…

The rapid growth of collaborative robotics in production requires new automation technologies that take human and machine equally into account. In this work, we describe a monocular camera based system to detect human-machine interactions…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

Human performance capture is a highly important computer vision problem with many applications in movie production and virtual/augmented reality. Many previous performance capture approaches either required expensive multi-view setups or…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to…

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…