相关论文: CRSOT: Cross-Resolution Object Tracking using Unal…

In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust…

In Intelligent Transportation Systems (ITS), multi-object tracking is primarily based on frame-based cameras. However, these cameras tend to perform poorly under dim lighting and high-speed motion conditions. Event cameras, characterized by…

Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Moving Object Detection (MOD) is a critical vision task for successfully achieving safe autonomous driving. Despite plausible results of deep learning methods, most existing approaches are only frame-based and may fail to reach reasonable…

Visual object tracking, which is primarily based on visible light image sequences, encounters numerous challenges in complicated scenarios, such as low light conditions, high dynamic ranges, and background clutter. To address these…

Visual object tracking, as a fundamental task in computer vision, has drawn much attention in recent years. To extend trackers to a wider range of applications, researchers have introduced information from multiple modalities to handle…

Dynamic Vision Sensors (DVS) offer a unique advantage in control applications due to their high temporal resolution and asynchronous event-based data. Still, their adoption in machine learning algorithms remains limited. To address this gap…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the…

Traffic object detection under variable illumination is challenging due to the information loss caused by the limited dynamic range of conventional frame-based cameras. To address this issue, we introduce bio-inspired event cameras and…

Implicit neural SLAM has achieved remarkable progress recently. Nevertheless, existing methods face significant challenges in non-ideal scenarios, such as motion blur or lighting variation, which often leads to issues like convergence…

Estimating the target extent poses a fundamental challenge in visual object tracking. Typically, trackers are box-centric and fully rely on a bounding box to define the target in the scene. In practice, objects often have complex shapes and…

Event-based camera has emerged as a promising paradigm for robot perception, offering advantages with high temporal resolution, high dynamic range, and robustness to motion blur. However, existing deep learning-based event processing…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

We present PixTrack, a vision based object pose tracking framework using novel view synthesis and deep feature-metric alignment. We follow an SfM-based relocalization paradigm where we use a Neural Radiance Field to canonically represent…