相关论文: MR6D: Benchmarking 6D Pose Estimation for Mobile R…

The exploration of robotic dexterous hands utilizing tools has recently attracted considerable attention. A significant challenge in this field is the precise awareness of a tool's pose when grasped, as occlusion by the hand often degrades…

In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust…

Human pose estimation is a critical task in computer vision and sports biomechanics, with applications spanning sports science, rehabilitation, and biomechanical research. While significant progress has been made in monocular 3D pose…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Estimating the 3D structure of the human body from natural scenes is a fundamental aspect of visual perception. 3D human pose estimation is a vital step in advancing fields like AIGC and human-robot interaction, serving as a crucial…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

The accurate estimation of 6D pose remains a challenging task within the computer vision domain, even when utilizing 3D point cloud data. Conversely, in the manufacturing domain, instances arise where leveraging prior knowledge can yield…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…

Hand pose estimation from egocentric video has broad implications across various domains, including human-computer interaction, assistive technologies, activity recognition, and robotics, making it a topic of significant research interest.…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

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…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

6D object pose estimation suffers from reduced accuracy when applied to metallic objects. We set out to improve the state-of-the-art by addressing challenges such as reflections and specular highlights in industrial applications. Our novel…