相关论文: Category Level 6D Object Pose Estimation from a Si…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

We propose a new method named OnePose for object pose estimation. Unlike existing instance-level or category-level methods, OnePose does not rely on CAD models and can handle objects in arbitrary categories without instance- or…

In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC) based methods have been widely used to extract local…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

Estimating a 6DOF object pose from a single image is very challenging due to occlusions or textureless appearances. Vector-field based keypoint voting has demonstrated its effectiveness and superiority on tackling those issues. However,…

We propose 6DGS to estimate the camera pose of a target RGB image given a 3D Gaussian Splatting (3DGS) model representing the scene. 6DGS avoids the iterative process typical of analysis-by-synthesis methods (e.g. iNeRF) that also require…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time,…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

To enable versatile robot manipulation, robots must detect task-relevant poses for different purposes from raw scenes. Currently, many perception algorithms are designed for specific purposes, which limits the flexibility of the perception…

Understanding humans from photographs has always been a fundamental goal of computer vision. In this thesis we have developed a hierarchy of tools that cover a wide range of topics with the objective of understanding humans from monocular…

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

Many approaches have been proposed for human pose estimation in single and multi-view RGB images. However, some environments, such as the operating room, are still very challenging for state-of-the-art RGB methods. In this paper, we propose…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…