相关论文: GKNet: Graph-based Keypoints Network for Monocular…

Spacecraft pose estimation is a key task to enable space missions in which two spacecrafts must navigate around each other. Current state-of-the-art algorithms for pose estimation employ data-driven techniques. However, there is an absence…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

We address the problem of keypoint selection, and find that the performance of 6DoF pose estimation methods can be improved when pre-defined keypoint locations are learned, rather than being heuristically selected as has been the standard…

Hand pose estimation is a crucial part of a wide range of augmented reality and human-computer interaction applications. Predicting the 3D hand pose from a single RGB image is challenging due to occlusion and depth ambiguities. GCN-based…

Predicting pedestrian trajectories is essential for autonomous driving systems, as it significantly enhances safety and supports informed decision-making. Accurate predictions enable the prevention of collisions, anticipation of crossing…

Human gait is one of important biometric characteristics for human identification at a distance. In practice, occlusion usually occurs and seriously affects accuracy of gait recognition. However, there is no available database to support…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

Geometry plays a significant role in monocular 3D object detection. It can be used to estimate object depth by using the perspective projection between object's physical size and 2D projection in the image plane, which can introduce…

We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy relative measurements between poses. The algorithm, called…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Non-local operations are usually used to capture long-range dependencies via aggregating global context to each position recently. However, most of the methods cannot preserve object shapes since they only focus on feature similarity but…

Recent salient object detection (SOD) models predominantly rely on heavyweight backbones, incurring substantial computational cost and hindering their practical application in various real-world settings, particularly on edge devices. This…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating…

Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…

Tactile pose estimation and tactile servoing are fundamental capabilities of robot touch. Reliable and precise pose estimation can be provided by applying deep learning models to high-resolution optical tactile sensors. Given the recent…

Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…