相关论文: APR-Transformer: Initial Pose Estimation for Local…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

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…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Camera pose regression methods apply a single forward pass to the query image to estimate the camera pose. As such, they offer a fast and light-weight alternative to traditional localization schemes based on image retrieval. Pose regression…

Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement…

Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…

Today's Mixed Reality head-mounted displays track the user's head pose in world space as well as the user's hands for interaction in both Augmented Reality and Virtual Reality scenarios. While this is adequate to support user input, it…

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…

How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Category-level 6D pose estimation aims to predict the poses and sizes of unseen objects from a specific category. Thanks to prior deformation, which explicitly adapts a category-specific 3D prior (i.e., a 3D template) to a given object…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

Grounded Situation Recognition (GSR) is the task that not only classifies a salient action (verb), but also predicts entities (nouns) associated with semantic roles and their locations in the given image. Inspired by the remarkable success…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

Accurate localization is essential for autonomous driving, but GNSS-based methods struggle in challenging environments such as urban canyons. Cross-view pose optimization offers an effective solution by directly estimating vehicle pose…