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

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

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.…

People spend a substantial part of their lives at rest in bed. 3D human pose and shape estimation for this activity would have numerous beneficial applications, yet line-of-sight perception is complicated by occlusion from bedding. Pressure…

Dynamic Vision Sensor (DVS) event camera models are important tools for predicting camera response, optimizing biases, and generating realistic simulated datasets. Existing DVS models have been useful, but have not demonstrated high realism…

Airplane detection from satellite imagery is a challenging task due to the complex backgrounds in the images and differences in data acquisition conditions caused by the sensor geometry and atmospheric effects. Deep learning methods provide…

We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

This study addresses the challenge of online 3D model generation for neural rendering using an RGB image stream. Previous research has tackled this issue by incorporating Neural Radiance Fields (NeRF) or 3D Gaussian Splatting (3DGS) as…

Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In…

In pose estimation for seen objects, a prevalent pipeline involves using neural networks to predict dense 3D coordinates of the object surface on 2D images, which are then used to establish dense 2D-3D correspondences. However, current…

In recent years, 3D parametric animal models have been developed to aid in estimating 3D shape and pose from images and video. While progress has been made for humans, it's more challenging for animals due to limited annotated data. To…

This paper presents the initial stages in the development of a deep learning classifier for generalised Resident Space Object (RSO) characterisation that combines high-fidelity simulated light curves with transfer learning to improve the…

Visual localization refers to the process of determining camera poses and orientation within a known scene representation. This task is often complicated by factors such as changes in illumination and variations in viewing angles. In this…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

Upcoming large astronomical surveys are expected to capture an unprecedented number of strong gravitational lensing systems. Deep learning is emerging as a promising practical tool for the detection and quantification of these galaxy-scale…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Estimating human pose, shape, and motion from images and videos are fundamental challenges with many applications. Recent advances in 2D human pose estimation use large amounts of manually-labeled training data for learning convolutional…