相关论文: SEMPose: A Single End-to-end Network for Multi-obj…

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…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

In general, human pose estimation methods are categorized into two approaches according to their architectures: regression (i.e., heatmap-free) and heatmap-based methods. The former one directly estimates precise coordinates of each…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…

Human pose estimation from image and video is a vital task in many multimedia applications. Previous methods achieve great performance but rarely take efficiency into consideration, which makes it difficult to implement the networks on…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

We present a deep learning-based multitask framework for joint 3D human pose estimation and action recognition from RGB video sequences. Our approach proceeds along two stages. In the first, we run a real-time 2D pose detector to determine…

Estimating the 6D pose and 3D size of an object from an image is a fundamental task in computer vision. Most current approaches are restricted to specific instances with known models or require ground truth depth information or point cloud…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…