相关论文: PACE: A Large-Scale Dataset with Pose Annotations …

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 this paper we introduce a large-scale hand pose dataset, collected using a novel capture method. Existing datasets are either generated synthetically or captured using depth sensors: synthetic datasets exhibit a certain level of…

Traditional 2D pose estimation models are limited by their category-specific design, making them suitable only for predefined object categories. This restriction becomes particularly challenging when dealing with novel objects due to the…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…

Video-based human pose estimation models aim to address scenarios that cannot be effectively solved by static image models such as motion blur, out-of-focus and occlusion. Most existing approaches consist of two stages: detecting human…

Human pose estimation has made significant advancement in recent years. However, the existing datasets are limited in their coverage of pose variety. In this paper, we introduce a novel benchmark FollowMeUp Sports that makes an important…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Annotating a large-scale in-the-wild person re-identification dataset especially of marathon runners is a challenging task. The variations in the scenarios such as camera viewpoints, resolution, occlusion, and illumination make the problem…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…

In this paper, we introduce a new dataset, named InstaOrder, that can be used to understand the geometrical relationships of instances in an image. The dataset consists of 2.9M annotations of geometric orderings for class-labeled instances…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

Significant progress has been made in spatial intelligence, spanning both spatial reconstruction and world exploration. However, the scalability and real-world fidelity of current models remain severely constrained by the scarcity of…

Understanding human behaviour in crowded indoor environments is central to surveillance, smart buildings, and human-robot interaction, yet existing datasets rarely capture real-world indoor complexity at scale. We introduce IndoorCrowd, a…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…

For many years, multi-object tracking benchmarks have focused on a handful of categories. Motivated primarily by surveillance and self-driving applications, these datasets provide tracks for people, vehicles, and animals, ignoring the vast…

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most…

Object grasping in cluttered scenes is a widely investigated field of robot manipulation. Most of the current works focus on estimating grasp pose from point clouds based on an efficient single-shot grasp detection network. However, due to…

Understanding fashion images has been advanced by benchmarks with rich annotations such as DeepFashion, whose labels include clothing categories, landmarks, and consumer-commercial image pairs. However, DeepFashion has nonnegligible issues…

Automated pavement defect detection often struggles to generalize across diverse real-world conditions due to the lack of standardized datasets. Existing datasets differ in annotation styles, distress type definitions, and formats, limiting…