相关论文: Unified Category-Level Object Detection and Pose E…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

This paper introduces a novel weighted unsupervised learning for object detection using an RGB-D camera. This technique is feasible for detecting the moving objects in the noisy environments that are captured by an RGB-D camera. The main…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

Pose estimation is usually tackled as either a bin classification or a regression problem. In both cases, the idea is to directly predict the pose of an object. This is a non-trivial task due to appearance variations between similar poses…

Dramatic appearance variation due to pose constitutes a great challenge in fine-grained recognition, one which recent methods using attention mechanisms or second-order statistics fail to adequately address. Modern CNNs typically lack an…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed. This work provides an overview of the field in terms of methods, datasets, and evaluation protocols. First, an overview of…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

This paper tackles category-level pose estimation of articulated objects in robotic manipulation tasks and introduces a new benchmark dataset. While recent methods estimate part poses and sizes at the category level, they often rely on…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

We present a scalable method for detecting objects and estimating their 3D poses in RGB-D data. To this end, we rely on an efficient representation of object views and employ hashing techniques to match these views against the input frame…