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

This paper proposes a new method for accurate and robust 6D pose estimation of novel objects, named GS2Pose. By introducing 3D Gaussian splatting, GS2Pose can utilize the reconstruction results without requiring a high-quality CAD model,…

In this paper, we propose a novel effective light-weight framework, called LightTrack, for online human pose tracking. The proposed framework is designed to be generic for top-down pose tracking and is faster than existing online and…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

It has been shown that learning radiance fields with depth rendering and depth supervision can effectively promote the quality and convergence of view synthesis. However, this paradigm requires input RGB-D sequences to be synchronized,…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose…

Estimating the 6D pose of objects from RGBD data is a fundamental problem in computer vision, with applications in robotics and augmented reality. A key challenge is achieving generalization to novel objects that were not seen during…

Dynamic 3D reconstruction and point tracking in videos are typically treated as separate tasks, despite their deep connection. We propose St4RTrack, a feed-forward framework that simultaneously reconstructs and tracks dynamic video content…

Compared with traditional RGB-only visual tracking, few datasets have been constructed for RGB-D tracking. In this paper, we propose ARKitTrack, a new RGB-D tracking dataset for both static and dynamic scenes captured by consumer-grade…

In this work, we present FFB6D, a Full Flow Bidirectional fusion network designed for 6D pose estimation from a single RGBD image. Our key insight is that appearance information in the RGB image and geometry information from the depth image…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

As RGB-D sensors become more affordable, using RGB-D images to obtain high-accuracy 6D pose estimation results becomes a better option. State-of-the-art approaches typically use different backbones to extract features for RGB and depth…

Robust 6D object pose estimation in cluttered or occluded conditions using monocular RGB images remains a challenging task. One reason is that current pose estimation networks struggle to extract discriminative, pose-aware features using 2D…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…