相关论文: DVMNet++: Rethinking Relative Pose Estimation for …

Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…

3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…

Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is objects unseen…

Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demonstrated commendable performance, the procurement of such real…

We present a method for discovering never-seen-before objects in 3D point clouds obtained from sensors like Microsoft Kinect. We generate supervoxels directly from the point cloud data and use them with a Siamese network, built on a…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

We propose a scalable, efficient and accurate approach to retrieve 3D models for objects in the wild. Our contribution is twofold. We first present a 3D pose estimation approach for object categories which significantly outperforms the…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

This paper addresses the challenge of 3D human pose estimation from a single color image. Despite the general success of the end-to-end learning paradigm, top performing approaches employ a two-step solution consisting of a Convolutional…

Deep Convolutional Neural Networks (CNNs) have been repeatedly proven to perform well on image classification tasks. Object detection methods, however, are still in need of significant improvements. In this paper, we propose a new framework…

Visual relationship detection, as a challenging task used to find and distinguish the interactions between object pairs in one image, has received much attention recently. In this work, we propose a novel visual relationship detection…

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast,…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

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 order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…