相关论文: Certifying Robustness of Learning-Based Keypoint D…

Keypoint detection underpins many vision tasks, including pose estimation, viewpoint recovery, and 3D reconstruction, yet modern neural models remain vulnerable to small input perturbations. Despite its importance, formal robustness…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

A vast literature shows that the learning-based visual perception model is sensitive to adversarial noises, but few works consider the robustness of robotic perception models under widely-existing camera motion perturbations. To this end,…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

Deep learning-based visual perception models lack robustness when faced with camera motion perturbations in practice. The current certification process for assessing robustness is costly and time-consuming due to the extensive number of…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

We consider a certifiable object pose estimation problem, where -- given a partial point cloud of an object -- the goal is to not only estimate the object pose, but also to provide a certificate of correctness for the resulting estimate.…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

Deep neural networks have been widely adopted in many vision and robotics applications with visual inputs. It is essential to verify its robustness against semantic transformation perturbations, such as brightness and contrast. However,…

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…