相关论文: Aleatoric Uncertainty from AI-based 6D Object Pose…

Deep learning (DL) models have received particular attention in medical imaging due to their promising pattern recognition capabilities. However, Deep Neural Networks (DNNs) require a huge amount of data, and because of the lack of…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

In this work we present a novel framework that uses deep learning to predict object feature points that are out-of-view in the input image. This system was developed with the application of model-based tracking in mind, particularly in the…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

The use of AI systems in healthcare for the early screening of diseases is of great clinical importance. Deep learning has shown great promise in medical imaging, but the reliability and trustworthiness of AI systems limit their deployment…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the dynamics model used in state estimation algorithms.…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

While modern deep neural networks are performant perception modules, performance (accuracy) alone is insufficient, particularly for safety-critical robotic applications such as self-driving vehicles. Robot autonomy stacks also require these…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

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…

State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

Uncertainty quantification methods are required in autonomous systems that include deep learning (DL) components to assess the confidence of their estimations. However, to successfully deploy DL components in safety-critical autonomous…

Emerging deep-learning (DL)-based techniques have significant potential to revolutionize biomedical imaging. However, one outstanding challenge is the lack of reliability assessment in the DL predictions, whose errors are commonly revealed…