相关论文: MVTOP: Multi-View Transformer-based Object Pose-Es…

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…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

We aim to simultaneously estimate the 3D articulated pose and high fidelity volumetric occupancy of human performance, from multiple viewpoint video (MVV) with as few as two views. We use a multi-channel symmetric 3D convolutional…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…

We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the…

In 3D human pose estimation one of the biggest problems is the lack of large, diverse datasets. This is especially true for multi-person 3D pose estimation, where, to our knowledge, there are only machine generated annotations available for…

As online shopping continues to grow, the demand for Virtual Try-On (VTON) technology has surged, allowing customers to visualize products on themselves by overlaying product images onto their own photos. An essential yet challenging…

We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

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…

We propose the first direct end-to-end multi-person pose estimation framework, termed DirectPose. Inspired by recent anchor-free object detectors, which directly regress the two corners of target bounding-boxes, the proposed framework…

Existing methods for human mesh recovery mainly focus on single-view frameworks, but they often fail to produce accurate results due to the ill-posed setup. Considering the maturity of the multi-view motion capture system, in this paper, we…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…

Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…

Real-time multi-person pose estimation presents significant challenges in balancing speed and precision. While two-stage top-down methods slow down as the number of people in the image increases, existing one-stage methods often fail to…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…