相关论文: CRISP: Object Pose and Shape Estimation with Test-…

Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality object generation. To address these, we propose CAST…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations…

Determining the direction in which a person is looking is an important problem in a wide range of HCI applications. In this paper we describe a highly accurate algorithm that performs gaze estimation using an affordable and widely available…

We propose a means of computing fitted frames on the boundary and in the interior of objects and using them to provide the basis for producing geometric features from them that are not only alignment-free but most importantly can be made to…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

In this paper, we introduce a novel self-supervised learning (SSL) loss for image representation learning. There is a growing belief that generalization in deep neural networks is linked to their ability to discriminate object shapes. Since…

An emerging problem in computer vision is the reconstruction of 3D shape and pose of an object from a single image. Hitherto, the problem has been addressed through the application of canonical deep learning methods to regress from the…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

Recently, category-level 6D object pose estimation has achieved significant improvements with the development of reconstructing canonical 3D representations. However, the reconstruction quality of existing methods is still far from…

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 novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we…

3D human pose and shape estimation from monocular images has been an active research area in computer vision. Existing deep learning methods for this task rely on high-resolution input, which however, is not always available in many…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

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…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Model-based human pose estimation is currently approached through two different paradigms. Optimization-based methods fit a parametric body model to 2D observations in an iterative manner, leading to accurate image-model alignments, but are…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…