相关论文: Accelerating SfM-based Pose Estimation with Domina…

Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…

This paper considers to jointly tackle the highly correlated tasks of estimating 3D human body poses and predicting future 3D motions from RGB image sequences. Based on Lie algebra pose representation, a novel self-projection mechanism is…

3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…

Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this problem are categorized into incremental and global approaches.…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Existing volumetric methods for predicting 3D human pose estimation are accurate, but computationally expensive and optimized for single time-step prediction. We present TEMPO, an efficient multi-view pose estimation model that learns a…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-of-freedom than points. Thus, line-based…

IoT devices suffer from resource limitations, such as processor, RAM, and disc storage. These limitations become more evident when handling demanding applications, such as deep learning, well-known for their heavy computational…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

This paper addresses the problem of 3D human pose estimation from a single image. We follow a standard two-step pipeline by first detecting the 2D position of the $N$ body joints, and then using these observations to infer 3D pose. For the…

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…

Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…