相关论文: MRC-Net: 6-DoF Pose Estimation with MultiScale Res…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

Estimating the 6D pose of objects from a single RGB image is a critical task for robotics and extended reality applications. However, state-of-the-art multi stage methods often suffer from high latency, making them unsuitable for real time…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

This paper presents a fast detection and 5 DoF (Degrees of Freedom) pose estimation network for colorless point clouds. The pose estimation is calculated from center and top points of the object, predicted by the neural network. The network…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Category-level object pose estimation, which predicts the pose of objects within a known category without prior knowledge of individual instances, is essential in applications like warehouse automation and manufacturing. Existing methods…

We explore 3D human pose estimation from a single RGB image. While many approaches try to directly predict 3D pose from image measurements, we explore a simple architecture that reasons through intermediate 2D pose predictions. Our approach…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

Estimating rigid objects' poses is one of the fundamental problems in computer vision, with a range of applications across automation and augmented reality. Most existing approaches adopt one network per object class strategy, depend…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

We present MoVNect, a lightweight deep neural network to capture 3D human pose using a single RGB camera. To improve the overall performance of the model, we apply the teacher-student learning method based knowledge distillation to 3D human…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…