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

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

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,…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

Due to the rapid increase in the diversity of image data, the problem of domain generalization has received increased attention recently. While domain generalization is a challenging problem, it has achieved great development thanks to the…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

Domain adaptive pose estimation aims to enable deep models trained on source domain (synthesized) datasets produce similar results on the target domain (real-world) datasets. The existing methods have made significant progress by conducting…

Given the dependency of current CNN architectures on a large training set, the possibility of using synthetic data is alluring as it allows generating a virtually infinite amount of labeled training data. However, producing such data is a…