相关论文: Extending 6D Object Pose Estimators for Stereo Vis…

Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

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…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

6D object pose estimation suffers from reduced accuracy when applied to metallic objects. We set out to improve the state-of-the-art by addressing challenges such as reflections and specular highlights in industrial applications. Our novel…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

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…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…