相关论文: A large-scale, physically-based synthetic dataset …

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Estimating redshift is a central task in astrophysics, but its measurement is costly and time-consuming. In addition, current image-based methods are often validated on homogeneous datasets. The development and comparison of networks able…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Accurate hand pose estimation at joint level has several uses on human-robot interaction, user interfacing and virtual reality applications. Yet, it currently is not a solved problem. The novel deep learning techniques could make a great…

Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…

Novel view synthesis (NVS) enables to generate new images of a scene or convert a set of 2D images into a comprehensive 3D model. In the context of Space Domain Awareness, since space is becoming increasingly congested, NVS can accurately…

LongSplat addresses critical challenges in novel view synthesis (NVS) from casually captured long videos characterized by irregular camera motion, unknown camera poses, and expansive scenes. Current methods often suffer from pose drift,…

High-resolution spatiotemporal simulations effectively capture the complexities of atmospheric plume dispersion in complex terrain. However, their high computational cost makes them impractical for applications requiring rapid responses or…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

Recent advancements in deep learning, computer vision, and embodied AI have given rise to synthetic causal reasoning video datasets. These datasets facilitate the development of AI algorithms that can reason about physical interactions…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…

An automated robotic system needs to be as robust as possible and fail-safe in general while having relatively high precision and repeatability. Although deep learning-based methods are becoming research standard on how to approach 3D scan…

Dynamic Vision Sensors (DVS) offer a unique advantage in control applications due to their high temporal resolution and asynchronous event-based data. Still, their adoption in machine learning algorithms remains limited. To address this gap…

We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…

Although various visual localization approaches exist, such as scene coordinate regression and camera pose regression, these methods often struggle with optimization complexity or limited accuracy. To address these challenges, we explore…

Vision Based Navigation consists in utilizing cameras as precision sensors for GNC after extracting information from images. To enable the adoption of machine learning for space applications, one of obstacles is the demonstration that…

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…