相关论文: RGBTrack: Fast, Robust Depth-Free 6D Pose Estimati…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

Visual object tracking with the visible (RGB) and thermal infrared (TIR) electromagnetic waves, shorted in RGBT tracking, recently draws increasing attention in the tracking community. Considering the rapid development of deep learning, a…

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…

We propose a novel fast track finding system capable of reconstructing four dimensional particle trajectories in real time using precise space and time information of the hits. Recent developments in silicon pixel detectors achieved 150 ps…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been studied recently, their inaccurate geometric representation is…

This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…

A key capability of a long-term tracker is to search for targets in very large areas (typically the entire image) to handle possible target absences or tracking failures. However, currently there is a lack of such a strong baseline for…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

One of the major challenges of model-free visual tracking problem has been the difficulty originating from the unpredictable and drastic changes in the appearance of objects we target to track. Existing methods tackle this problem by…

We propose a new cascaded architecture for novel view synthesis, called RGBD-Net, which consists of two core components: a hierarchical depth regression network and a depth-aware generator network. The former one predicts depth maps of the…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…

We present GNC-Pose, a fully learning-free monocular 6D object pose estimation pipeline for textured objects that combines rendering-based initialization, geometry-aware correspondence weighting, and robust GNC optimization. Starting from…

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

RGB-T tracking, a vital downstream task of object tracking, has made remarkable progress in recent years. Yet, it remains hindered by two major challenges: 1) the trade-off between performance and efficiency; 2) the scarcity of training…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…