相关论文: Pose Prior Learner: Unsupervised Categorical Prior…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

This paper proposes the first self-supervised 6D object pose prediction from multimodal RGB+polarimetric images. The novel training paradigm comprises 1) a physical model to extract geometric information of polarized light, 2) a…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

Pose refinement is an interesting and practically relevant research direction. Pose refinement can be used to (1) obtain a more accurate pose estimate from an initial prior (e.g., from retrieval), (2) as pre-processing, i.e., to provide a…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall…

Category-level object pose estimation aims to predict the 6D pose and 3D size of objects within given categories. Existing approaches for this task rely solely on 6D poses as supervisory signals without explicitly capturing the intrinsic…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

In-bed pose estimation has shown value in fields such as hospital patient monitoring, sleep studies, and smart homes. In this paper, we explore different strategies for detecting body pose from highly ambiguous pressure data, with the aid…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

In this paper we propose a technique for obtaining coarse pose estimation of humans in an image that does not require any manual supervision. While a general unsupervised technique would fail to estimate human pose, we suggest that…

Human pose information is a critical component in many downstream image processing tasks, such as activity recognition and motion tracking. Likewise, a pose estimator for the illustrated character domain would provide a valuable prior for…

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…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Part-based image classification aims at representing categories by small sets of learned discriminative parts, upon which an image representation is built. Considered as a promising avenue a decade ago, this direction has been neglected…

Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…

Animal pose estimation has recently come into the limelight due to its application in biology, zoology, and aquaculture. Deep learning methods have effectively been applied to human pose estimation. However, the major bottleneck to the…

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…

This paper revisits camera pose estimation through the lens of self-supervised pretraining, focusing on inverse-dynamics pretraining as a scalable alternative to the current trend of fully supervised training with 3D annotations.…