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

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…

Conventional 2D human pose estimation methods typically require extensive labeled annotations, which are both labor-intensive and expensive. In contrast, semi-supervised 2D human pose estimation can alleviate the above problems by…

This paper presents a novel approach to estimating the continuous six degree of freedom (6-DoF) pose (3D translation and rotation) of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional…

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.…

Recent advances in machine learning have greatly benefited object detection and 6D pose estimation. However, textureless and metallic objects still pose a significant challenge due to few visual cues and the texture bias of CNNs. To address…

Estimating the parameters of a model describing a set of observations using a neural network is in general solved in a supervised way. In cases when we do not have access to the model's true parameters this approach can not be applied.…

This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…

This paper addresses the problem of 3D human body shape and pose estimation from RGB images. Recent progress in this field has focused on single images, video or multi-view images as inputs. In contrast, we propose a new task: shape and…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

Self-supervised learning of depth and ego-motion from unlabeled monocular video has acquired promising results and drawn extensive attention. Most existing methods jointly train the depth and pose networks by photometric consistency of…

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…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

This paper makes a first attempt to bring the Shape from Polarization (SfP) problem to the realm of deep learning. The previous state-of-the-art methods for SfP have been purely physics-based. We see value in these principled models, and…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

We introduce an unsupervised feature learning approach that embeds 3D shape information into a single-view image representation. The main idea is a self-supervised training objective that, given only a single 2D image, requires all unseen…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

We present a framework to translate between 2D image views and 3D object shapes. Recent progress in deep learning enabled us to learn structure-aware representations from a scene. However, the existing literature assumes that pairs of…

6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings.…

Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…