相关论文: ToolEENet: Tool Affordance 6D Pose Estimation

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

Estimating the head pose of a person is a crucial problem for numerous applications that is yet mainly addressed as a subtask of frontal pose prediction. We present a novel method for unconstrained end-to-end head pose estimation to tackle…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Estimating 6D poses and reconstructing 3D shapes of objects in open-world scenes from RGB-depth image pairs is challenging. Many existing methods rely on learning geometric features that correspond to specific templates while disregarding…

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D…

Posing high-contact interactions is challenging and time-consuming, with hand-object interactions being especially difficult due to the large number of degrees of freedom (DOF) of the hand and the fact that humans are experts at judging…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

3D hand pose estimation methods have made significant progress recently. However, the estimation accuracy is often far from sufficient for specific real-world applications, and thus there is significant room for improvement. This paper…

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…

Hand-object pose estimation from monocular RGB images remains a significant challenge mainly due to the severe occlusions inherent in hand-object interactions. Existing methods do not sufficiently explore global structural perception and…

Thanks to the rapid development of CNNs and depth sensors, great progress has been made in 3D hand pose estimation. Nevertheless, it is still far from being solved for its cluttered circumstance and severe self-occlusion of hand. In this…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…