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

With the development of depth sensors in recent years, RGBD object tracking has received significant attention. Compared with the traditional RGB object tracking, the addition of the depth modality can effectively solve the target and…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Recently, 3D version has been improved greatly due to the development of deep neural networks. A high quality dataset is important to the deep learning method. Existing datasets for 3D vision has been constructed, such as Bigbird and YCB.…

We present an automated and efficient approach for retrieving high-quality CAD models of objects and their poses in a scene captured by a moving RGB-D camera. We first investigate various objective functions to measure similarity between a…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

We present a novel multi-attentional convolutional architecture to tackle the problem of real-time RGB-D 6D object pose tracking of single, known objects. Such a problem poses multiple challenges originating both from the objects' nature…

While RGBD-based methods for category-level object pose estimation hold promise, their reliance on depth data limits their applicability in diverse scenarios. In response, recent efforts have turned to RGB-based methods; however, they face…

Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work…

RGBT tracking has been widely used in various fields such as robotics, surveillance processing, and autonomous driving. Existing RGBT trackers fully explore the spatial information between the template and the search region and locate the…

This paper presents GGRt, a novel approach to generalizable novel view synthesis that alleviates the need for real camera poses, complexity in processing high-resolution images, and lengthy optimization processes, thus facilitating stronger…

Multimodal Visual Object Tracking (VOT) has recently gained significant attention due to its robustness. Early research focused on fully fine-tuning RGB-based trackers, which was inefficient and lacked generalized representation due to the…

We propose a transformer-based neural network architecture for multi-object 3D reconstruction from RGB videos. It relies on two alternative ways to represent its knowledge: as a global 3D grid of features and an array of view-specific 2D…

RGB-T tracking leverages the complementary strengths of RGB and thermal infrared (TIR) modalities to address challenging scenarios such as low illumination and adverse weather. However, existing methods often fail to effectively integrate…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

Robust gait recognition requires highly discriminative representations, which are closely tied to input modalities. While binary silhouettes and skeletons have dominated recent literature, these 2D representations fall short of capturing…

We present a system for keyframe-based dense camera tracking and depth map estimation that is entirely learned. For tracking, we estimate small pose increments between the current camera image and a synthetic viewpoint. This significantly…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

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…