相关论文: PAOLI: Pose-free Articulated Object Learning from …

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…

In this paper we propose an approach for articulated tracking of multiple people in unconstrained videos. Our starting point is a model that resembles existing architectures for single-frame pose estimation but is substantially faster. We…

Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…

We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

We present an approach for aggregating a sparse set of views of an object in order to compute a semi-implicit 3D representation in the form of a volumetric feature grid. Key to our approach is an object-centric canonical 3D coordinate…

Learning a good 3D human pose representation is important for human pose related tasks, e.g. human 3D pose estimation and action recognition. Within all these problems, preserving the intrinsic pose information and adapting to view…

We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

We introduce SPFSplat, an efficient framework for 3D Gaussian splatting from sparse multi-view images, requiring no ground-truth poses during training or inference. It employs a shared feature extraction backbone, enabling simultaneous…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…