相关论文: Domain Generalization for In-Orbit 6D Pose Estimat…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view…

We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Articulation-centric 2D/3D pose supervision forms the core training objective in most existing 3D human pose estimation techniques. Except for synthetic source environments, acquiring such rich supervision for each real target domain at…

Along with the recent development of deep neural networks, appearance-based gaze estimation has succeeded considerably when training and testing within the same domain. Compared to the within-domain task, the variance of different domains…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

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…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive…

The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…

We propose 6DGS to estimate the camera pose of a target RGB image given a 3D Gaussian Splatting (3DGS) model representing the scene. 6DGS avoids the iterative process typical of analysis-by-synthesis methods (e.g. iNeRF) that also require…