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

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

Robust 6D object pose estimation in cluttered or occluded conditions using monocular RGB images remains a challenging task. One reason is that current pose estimation networks struggle to extract discriminative, pose-aware features using 2D…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

Locating 3D objects from a single RGB image via Perspective-n-Points (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, so that 2D-3D…

Object pose estimation is a core computer vision problem and often an essential component in robotics. Pose estimation is usually approached by seeking the single best estimate of an object's pose, but this approach is ill-suited for tasks…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

In 3D human pose estimation one of the biggest problems is the lack of large, diverse datasets. This is especially true for multi-person 3D pose estimation, where, to our knowledge, there are only machine generated annotations available for…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

Estimating human pose is an important yet challenging task in multimedia applications. Existing pose estimation libraries target reproducing standard pose estimation algorithms. When it comes to customising these algorithms for real-world…

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…

RGB-based novel object pose estimation is critical for rapid deployment in robotic applications, yet zero-shot generalization remains a key challenge. In this paper, we introduce PicoPose, a novel framework designed to tackle this task…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

Multi-person pose estimation is fundamental to many computer vision tasks and has made significant progress in recent years. However, few previous methods explored the problem of pose estimation in crowded scenes while it remains…