相关论文: Spiking monocular event based 6D pose estimation f…

Event cameras provide superior temporal resolution, dynamic range, power efficiency, and pixel bandwidth. Spiking Neural Networks (SNNs) naturally complement event data through discrete spike signals, making them ideal for event-based…

Spiking neural networks (SNNs) promise highly energy-efficient computing, but their adoption is hindered by a critical scarcity of event-stream data. This work introduces I2E, an algorithmic framework that resolves this bottleneck by…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

Object detection in autonomous driving suffers from motion blur and saturation under fast motion and extreme lighting. Spike cameras, offer microsecond latency and ultra high dynamic range for object detection by using per pixel…

Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

This paper presents an innovative deep learning pipeline which estimates the relative pose of a spacecraft by incorporating the temporal information from a rendezvous sequence. It leverages the performance of long short-term memory (LSTM)…

Event cameras generate asynchronous and sparse event streams capturing changes in light intensity. They offer significant advantages over conventional frame-based cameras, such as a higher dynamic range and an extremely faster data rate,…

Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

In comparison to conventional RGB cameras, the superior temporal resolution of event cameras allows them to capture rich information between frames, making them prime candidates for object tracking. Yet in practice, despite their…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

Event-based cameras feature high temporal resolution, wide dynamic range, and low power consumption, which is ideal for high-speed and low-light object detection. Spiking neural networks (SNNs) are promising for event-based object…