相关论文: EOPose : Exemplar-based object reposing using Gene…

The task of open-vocabulary object-centric image retrieval involves the retrieval of images containing a specified object of interest, delineated by an open-set text query. As working on large image datasets becomes standard, solving this…

We propose a human pose estimation framework that solves the task in the regression-based fashion. Unlike previous regression-based methods, which often fall behind those state-of-the-art methods, we formulate the pose estimation task into…

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…

This work addresses the problem of model-based human pose estimation. Recent approaches have made significant progress towards regressing the parameters of parametric human body models directly from images. Because of the absence of images…

Our work focuses on the development of a learnable neural representation of human pose for advanced AI assisted animation tooling. Specifically, we tackle the problem of constructing a full static human pose based on sparse and variable…

We introduce a unified, end-to-end framework that seamlessly integrates object detection and pose estimation with a versatile onboarding process. Our pipeline begins with an onboarding stage that generates object representations from either…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

We propose a sparse end-to-end multi-person pose regression framework, termed QueryPose, which can directly predict multi-person keypoint sequences from the input image. The existing end-to-end methods rely on dense representations to…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

In keypoint estimation tasks such as human pose estimation, heatmap-based regression is the dominant approach despite possessing notable drawbacks: heatmaps intrinsically suffer from quantization error and require excessive computation to…

Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…