相关论文: Box Pose and Shape Estimation and Domain Adaptatio…

In this paper, we propose a novel 3D graph convolution based pipeline for category-level 6D pose and size estimation from monocular RGB-D images. The proposed method leverages an efficient 3D data augmentation and a novel vector-based…

Self-supervised learning (SSL) has emerged as a powerful strategy for representation learning under limited annotation regimes, yet its effectiveness remains highly sensitive to many factors, especially the nature of the target task. In…

We introduce a novel learning method for 3D pose estimation from color images. While acquiring annotations for color images is a difficult task, our approach circumvents this problem by learning a mapping from paired color and depth images…

This paper revisits camera pose estimation through the lens of self-supervised pretraining, focusing on inverse-dynamics pretraining as a scalable alternative to the current trend of fully supervised training with 3D annotations.…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a robot fitted with…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying packet identity or…

We present a methodology for conditional control of human shape and pose in pretrained text-to-image diffusion models using a 3D human parametric model (SMPL). Fine-tuning these diffusion models to adhere to new conditions requires large…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

Deformation detection is vital for enabling accurate assessment and prediction of structural changes in materials, ensuring timely and effective interventions to maintain safety and integrity. Automating deformation detection through…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

With the rapid growth of the express industry, intelligent warehouses that employ autonomous robots for carrying parcels have been widely used to handle the vast express volume. For such warehouses, the warehouse layout design plays a key…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

High dimensional parameter space optimization is crucial in many applications. The parameters affecting this performance can be both numerical and categorical in their type. The existing techniques of black-box optimization and visual…

Background: Accurate segmentation of microscopic structures such as bio-artificial capsules in microscopy imaging is a prerequisite to the computer-aided understanding of important biomechanical phenomenons. State-of-the-art segmentation…

We consider the problem of unsupervised domain adaptation for image classification. To learn target-domain-aware features from the unlabeled data, we create a self-supervised pretext task by augmenting the unlabeled data with a certain type…