相关论文: Str-L Pose: Integrating Point and Structured Line …

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Pose estimation is a crucial task in computer vision, with wide applications in autonomous driving, human motion capture, and virtual reality. However, existing methods still face challenges in achieving high accuracy, particularly in…

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…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

In recent years, a plethora of diverse methods have been proposed for 3D pose estimation. Among these, self-attention mechanisms and graph convolutions have both been proven to be effective and practical methods. Recognizing the strengths…

Learning methods for relative camera pose estimation have been developed largely in isolation from classical geometric approaches. The question of how to integrate predictions from deep neural networks (DNNs) and solutions from geometric…

Most of the recent deep learning-based 3D human pose and mesh estimation methods regress the pose and shape parameters of human mesh models, such as SMPL and MANO, from an input image. The first weakness of these methods is an appearance…

Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…

This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Category-level object pose estimation requires both global context and local structure to ensure robustness against intra-class variations. However, 3D graph convolution (3D-GC) methods only focus on local geometry and depth information,…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

Parse graphs boost human pose estimation (HPE) by integrating context and hierarchies, yet prior work mostly focuses on single modality modeling, ignoring the potential of multimodal fusion. Notably, language offers rich HPE priors like…

We propose a novel image based localization system using graph neural networks (GNN). The pretrained ResNet50 convolutional neural network (CNN) architecture is used to extract the important features for each image. Following, the extracted…

Existing monocular 3D pose estimation methods primarily rely on joint positional features, while overlooking intrinsic directional and angular correlations within the skeleton. As a result, they often produce implausible poses under joint…

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…

Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…