相关论文: ReFlow6D: Refraction-Guided Transparent Object 6D …

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

This study addresses the challenge of accurate 6D pose estimation in Augmented Reality (AR), a critical component for seamlessly integrating virtual objects into real-world environments. Our research primarily addresses the difficulty of…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

In this work, we propose a novel method for the detailed reconstruction of transparent objects by exploiting polarimetric cues. Most of the existing methods usually lack sufficient constraints and suffer from the over-smooth problem. Hence,…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not readily available. To reduce dependency on 3D models, recent…

Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate depth estimates for. In many cases, they often appear as noisy…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

Glass is a prevalent material among solid objects in everyday life, yet segmentation methods struggle to distinguish it from opaque materials due to its transparency and reflection. While it is known that human perception relies on boundary…

Transparent and specular objects are frequently encountered in daily life, factories, and laboratories. However, due to the unique optical properties, the depth information on these objects is usually incomplete and inaccurate, which poses…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…