相关论文: Relative Pose Regression with Pose Auto-Encoders: …

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

We investigate the performance of image-based pose regressor models in underwater environments for relocalization. Leveraging PoseNet and PoseLSTM, we regress a 6-degree-of-freedom pose from single RGB images with high accuracy.…

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 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…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

Navigation inside a closed area with no GPS-signal accessibility is a highly challenging task. In order to tackle this problem, recently the imaging-based methods have grabbed the attention of many researchers. These methods either extract…

We propose a novel image based localization system using graph neural networks (GNN). The pretrained ResNet50 convolutional neural network (CNN) architecture is used to extract the important features for each image. Following, the extracted…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane…

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered…

This paper presents a comprehensive review on regression-based method for human pose estimation. The problem of human pose estimation has been intensively studied and enabled many application from entertainment to training. Traditional…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…