相关论文: FreeZe: Training-free zero-shot 6D pose estimation…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

We present a network architecture which compares RGB images and untextured 3D models by the similarity of the represented shape. Our system is optimised for zero-shot retrieval, meaning it can recognise shapes never shown in training. We…

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…

In this paper, we present KeyMatchNet, a novel network for zero-shot pose estimation in 3D point clouds. Our method uses only depth information, making it more applicable for many industrial use cases, as color information is seldom…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D object pose estimation and related tasks. In 2024, our goal…

We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

The task of three-dimensional (3D) human pose estimation from a single image can be divided into two parts: (1) Two-dimensional (2D) human joint detection from the image and (2) estimating a 3D pose from the 2D joints. Herein, we focus on…

As we move towards large-scale object detection, it is unrealistic to expect annotated training data, in the form of bounding box annotations around objects, for all object classes at sufficient scale, and so methods capable of unseen…