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

Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their ability to model complex errors using data. However,…

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…

Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

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…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

As a novel way of presenting information, augmented reality (AR) enables people to interact with the physical world in a direct and intuitive way. While there are some mobile AR products implemented with specific hardware at a high cost,…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR. This framework enhances the localization accuracy of state-of-the-art absolute pose regression…

Time series forecasting is an important problem, with many real world applications. Ensembles of deep neural networks have recently achieved impressive forecasting accuracy, but such large ensembles are impractical in many real world…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

The real-world deployment of an autonomous driving system requires its components to run on-board and in real-time, including the motion prediction module that predicts the future trajectories of surrounding traffic participants. Existing…

Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features…

Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…