相关论文: XYZ-IBD: A High-precision Bin-picking Dataset for …

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Real-world scenes are inherently crowded. Hence, estimating 3D poses of all nearby humans, tracking their movements over time, and understanding their activities within social and environmental contexts are essential for many applications,…

We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…

Industrial Anomaly Detection (IAD) is a cornerstone for ensuring operational safety, maintaining product quality, and optimizing manufacturing efficiency. However, the advancement of IAD algorithms is severely hindered by the limitations of…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Transparent objects are ubiquitous in household settings and pose distinct challenges for visual sensing and perception systems. The optical properties of transparent objects leave conventional 3D sensors alone unreliable for object depth…

Accurately modeling how real-world materials reflect light remains a core challenge in inverse rendering, largely due to the scarcity of real measured reflectance data. Existing approaches rely heavily on synthetic datasets with simplified…

Industrial Anomaly Detection (IAD) is critical for quality control, but existing methods struggle with subtle, geometric defects. Standard 2D (RGB) images are sensitive to texture and lighting but often miss fine geometric anomalies. While…

While there are several widely used object detection datasets, current computer vision algorithms are still limited in conventional images. Such images narrow our vision in a restricted region. On the other hand, 360{\deg} images provide a…

Anomaly detection is a core capability for robotic perception and industrial inspection, yet most existing benchmarks are collected under controlled conditions with fixed viewpoints and stable illumination, failing to reflect real…

Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses. 6D pose estimation is an open challenge due to complex world…

We present a new, publicly-available image dataset generated by the NVIDIA Deep Learning Data Synthesizer intended for use in object detection, pose estimation, and tracking applications. This dataset contains 144k stereo image pairs that…

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…