相关论文: Leveraging Positional Encoding for Robust Multi-Re…

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…

How can we effectively utilise the 2D monocular image information for recovering the 6D pose (6-DoF) of the visual objects? Deep learning has shown to be effective for robust and real-time monocular pose estimation. Oftentimes, the network…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

In this paper, we address the challenging task of estimating 6D object pose from a single RGB image. Motivated by the deep learning based object detection methods, we propose a concise and efficient network that integrate 6D object pose…

To exploit high temporal correlations in video frames of the same scene, the current frame is predicted from the already-encoded reference frames using block-based motion estimation and compensation techniques. While this approach can…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

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…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

6D pose estimation from a single RGB image is a challenging and vital task in computer vision. The current mainstream deep model methods resort to 2D images annotated with real-world ground-truth 6D object poses, whose collection is fairly…

Systems involving human-robot collaboration necessarily require that steps be taken to ensure safety of the participating human. This is usually achievable if accurate, reliable estimates of the human's pose are available. In this paper, we…