相关论文: RoboKeyGen: Robot Pose and Joint Angles Estimation…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

In the domain of 3D Human Pose Estimation, which finds widespread daily applications, the requirement for convenient acquisition equipment continues to grow. To satisfy this demand, we set our sights on a short-baseline binocular setting…

Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

Methods and datasets for human pose estimation focus predominantly on side- and front-view scenarios. We overcome the limitation by leveraging synthetic data and introduce RePoGen (RarE POses GENerator), an SMPL-based method for generating…

The three-dimensional representation of objects or scenes starting from a set of images has been a widely discussed topic for years and has gained additional attention after the diffusion of NeRF-based approaches. However, an underestimated…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

Existing multi-view 3D object reconstruction methods heavily rely on sufficient overlap between input views, where occlusions and sparse coverage in practice frequently yield severe reconstruction incompleteness. Recent advancements in…

Estimating the 3D pose of a hand from a 2D image is a well-studied problem and a requirement for several real-life applications such as virtual reality, augmented reality, and hand gesture recognition. Currently, reasonable estimations can…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…

Accurate 3D human pose estimation remains a critical yet unresolved challenge, requiring both temporal coherence across frames and fine-grained modeling of joint relationships. However, most existing methods rely solely on geometric cues…

Object pose estimation is a core means for robots to understand and interact with their environment. For this task, monocular category-level methods are attractive as they require only a single RGB camera. However, current methods rely on…

We address the problem of keypoint selection, and find that the performance of 6DoF pose estimation methods can be improved when pre-defined keypoint locations are learned, rather than being heuristically selected as has been the standard…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…