相关论文: PoseINN: Realtime Visual-based Pose Regression and…

Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved ambiguous inverse problems in various fields. This paper…

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,…

This paper tackles the simultaneous optimization of pose and Neural Radiance Fields (NeRF). Departing from the conventional practice of using explicit global representations for camera pose, we propose a novel overparameterized…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Inertial-based Motion capture system has been attracting growing attention due to its wearability and unsconstrained use. However, accurate human joint estimation demands several complex and expertise demanding steps, which leads to…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…

This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

In industrial applications requiring real-time feedback, such as quality control and robotic manipulation, the demand for high-speed and accurate pose estimation remains critical. Despite advances improving speed and accuracy in pose…

We propose a method for human pose estimation based on Deep Neural Networks (DNNs). The pose estimation is formulated as a DNN-based regression problem towards body joints. We present a cascade of such DNN regressors which results in high…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…