相关论文: Pose Estimation of Buried Deep-Sea Objects using 3…

We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based…

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…

Spacecraft pose estimation plays a vital role in many on-orbit space missions, such as rendezvous and docking, debris removal, and on-orbit maintenance. At present, space images contain widely varying lighting conditions, high contrast and…

For most industrial bin picking solutions, the pose of a workpiece is localized by matching a CAD model to point cloud obtained from 3D sensor. Distinguishing flat workpieces from bottom of the bin in point cloud imposes challenges in the…

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…

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…

In this paper, a machine learning based approach is introduced to estimate pendubot angular position from its captured images. Initially, a baseline algorithm is introduced to estimate the angle using conventional image processing…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…

Category-level object pose estimation aims to predict the 6D pose as well as the 3D metric size of arbitrary objects from a known set of categories. Recent methods harness shape prior adaptation to map the observed point cloud into the…

The estimation of 6D object poses is a fundamental task in many computer vision applications. Particularly, in high risk scenarios such as human-robot interaction, industrial inspection, and automation, reliable pose estimates are crucial.…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

In this paper, we propose a novel real-time 6D object pose estimation framework, named G2L-Net. Our network operates on point clouds from RGB-D detection in a divide-and-conquer fashion. Specifically, our network consists of three steps.…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…