相关论文: Co-op: Correspondence-based Novel Object Pose Esti…

Current methods of multi-person pose estimation typically treat the localization and the association of body joints separately. It is convenient but inefficient, leading to additional computation and a waste of time. This paper, however,…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Egocentric pose estimation is a fundamental capability for multi-robot collaborative perception in connected autonomy, such as connected autonomous vehicles. During multi-robot operations, a robot needs to know the relative pose between…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

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…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

We present MVTOP, a novel transformer-based method for multi-view rigid object pose estimation. Through an early fusion of the view-specific features, our method can resolve pose ambiguities that would be impossible to solve with a single…

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…

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…

This paper presents the evaluation methodology, datasets, and results of the BOP Challenge 2020, the third in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Locating 3D objects from a single RGB image via Perspective-n-Point (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, allowing for…

In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

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…