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

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

Recognition of human poses and actions is crucial for autonomous systems to interact smoothly with people. However, cameras generally capture human poses in 2D as images and videos, which can have significant appearance variations across…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

We propose a new learning-based method for estimating 2D human pose from a single image, using Dual-Source Deep Convolutional Neural Networks (DS-CNN). Recently, many methods have been developed to estimate human pose by using pose priors…

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…

In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…

The use of deep 3D point cloud models in safety-critical applications, such as autonomous driving, dictates the need to certify the robustness of these models to real-world transformations. This is technically challenging, as it requires a…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

We present a simple deep learning framework to simultaneously predict keypoint locations and their respective visibilities and use those to achieve state-of-the-art performance for fine-grained classification. We show that by conditioning…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Semantic patterns of fine-grained objects are determined by subtle appearance difference of local parts, which thus inspires a number of part-based methods. However, due to uncontrollable object poses in images, distinctive details carried…

Category-level object pose estimation, which predicts the pose of objects within a known category without prior knowledge of individual instances, is essential in applications like warehouse automation and manufacturing. Existing methods…

In this paper, we propose a method for keypoint discovery from a 2D image using image-level supervision. Recent works on unsupervised keypoint discovery reliably discover keypoints of aligned instances. However, when the target instances…

Object detection is the identification of an object in the image along with its localisation and classification. It has wide spread applications and is a critical component for vision based software systems. This paper seeks to perform a…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…