相关论文: S2P3: Self-Supervised Polarimetric Pose Prediction

In text recognition, self-supervised pre-training emerges as a good solution to reduce dependence on expansive annotated real data. Previous studies primarily focus on local visual representation by leveraging mask image modeling or…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented…

3D imaging of specular surfaces remains challenging in real-world scenarios, such as in-line inspection or hand-held scanning, requiring fast and accurate measurement of complex geometries. Optical metrology techniques such as deflectometry…

Incorporating geometric transformations that reflect the relative position changes between an observer and an object into computer vision and deep learning models has attracted much attention in recent years. However, the existing proposals…

We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…

Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…

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…

Recently, contrastive learning has achieved great results in self-supervised learning, where the main idea is to push two augmentations of an image (positive pairs) closer compared to other random images (negative pairs). We argue that not…

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…

Human pose analysis is presently dominated by deep convolutional networks trained with extensive manual annotations of joint locations and beyond. To avoid the need for expensive labeling, we exploit spatiotemporal relations in training…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

A key goal of computer vision is to recover the underlying 3D structure from 2D observations of the world. In this paper we learn strong deep generative models of 3D structures, and recover these structures from 3D and 2D images via…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…

With an enormous number of hand images generated over time, unleashing pose knowledge from unlabeled images for supervised hand mesh estimation is an emerging yet challenging topic. To alleviate this issue, semi-supervised and…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

Protein representation learning aims to learn informative protein embeddings capable of addressing crucial biological questions, such as protein function prediction. Although sequence-based transformer models have shown promising results by…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

An effective framework for learning 3D representations for perception tasks is distilling rich self-supervised image features via contrastive learning. However, image-to point representation learning for autonomous driving datasets faces…