相关论文: Learning a Category-level Object Pose Estimator wi…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

We propose a method for annotating images of a hand manipulating an object with the 3D poses of both the hand and the object, together with a dataset created using this method. Our motivation is the current lack of annotated real images for…

Traditional approaches for learning 3D object categories use either synthetic data or manual supervision. In this paper, we propose a method which does not require manual annotations and is instead cued by observing objects from a moving…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…

Manual annotation of bounding boxes for object detection in digital images is tedious, and time and resource consuming. In this paper, we propose a semi-automatic method for efficient bounding box annotation. The method trains the object…

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…