相关论文: Object Pose Estimation Using Implicit Representati…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Neural implicit representation of visual scenes has attracted a lot of attention in recent research of computer vision and graphics. Most prior methods focus on how to reconstruct 3D scene representation from a set of images. In this work,…

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…

Neural Radiance Fields (NeRF) have demonstrated very impressive performance in novel view synthesis via implicitly modelling 3D representations from multi-view 2D images. However, most existing studies train NeRF models with either…

We propose CLA-NeRF -- a Category-Level Articulated Neural Radiance Field that can perform view synthesis, part segmentation, and articulated pose estimation. CLA-NeRF is trained at the object category level using no CAD models and no…

A human 3D avatar is one of the important elements in the metaverse, and the modeling effect directly affects people's visual experience. However, the human body has a complex topology and diverse details, so it is often expensive,…

Inverse rendering aims to reconstruct the scene properties of objects solely from multiview images. However, it is an ill-posed problem prone to producing ambiguous estimations deviating from physically accurate representations. In this…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

Recent advances in Neural Radiance Fields (NeRF) boast impressive performances for generative tasks such as novel view synthesis and 3D reconstruction. Methods based on neural radiance fields are able to represent the 3D world implicitly by…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Neural Radiance Fields (NeRF) show impressive performance in photo-realistic free-view rendering of scenes. Recent improvements on the NeRF such as TensoRF and ZipNeRF employ explicit models for faster optimization and rendering, as…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

Neural Radiance Field (NeRF) has recently emerged as a powerful representation to synthesize photorealistic novel views. While showing impressive performance, it relies on the availability of dense input views with highly accurate camera…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Implicit representations of 3D objects have recently achieved impressive results on learning-based 3D reconstruction tasks. While existing works use simple texture models to represent object appearance, photo-realistic image synthesis…

In recent years, Neural Radiance Fields (NeRF) has made remarkable progress in the field of computer vision and graphics, providing strong technical support for solving key tasks including 3D scene understanding, new perspective synthesis,…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

The insertion of objects into a scene and relighting are commonly utilized applications in augmented reality (AR). Previous methods focused on inserting virtual objects using CAD models or real objects from single-view images, resulting in…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…