相关论文: Category-Level Object Shape and Pose Estimation in…

Object detection is the identification of an object in the image along with its localisation and classification. It has wide spread applications and is a critical component for vision based software systems. This paper seeks to perform a…

In this paper, we propose a method for initial camera pose estimation from just a single image 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…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

We would like to estimate the pose and full shape of an object from a single observation, without assuming known 3D model or category. In this work, we propose OmniShape, the first method of its kind to enable probabilistic pose and shape…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

Image segmentation is an inherently ill-posed problem and thus requires regularization in order to limit the search space to reasonable solutions. A majority of segmentation methods integrates these regularization terms in one way or the…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

We developed a robust solution for real-time 6D object detection in industrial applications by integrating FoundationPose, SAM2, and LightGlue, eliminating the need for retraining. Our approach addresses two key challenges: the requirement…

We present an automated and efficient approach for retrieving high-quality CAD models of objects and their poses in a scene captured by a moving RGB-D camera. We first investigate various objective functions to measure similarity between a…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize both to known categories and beyond. To resolve this…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

We address an essential problem in computer vision, that of unsupervised object segmentation in video, where a main object of interest in a video sequence should be automatically separated from its background. An efficient solution to this…

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…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

Scene understanding from images is a challenging problem encountered in autonomous driving. On the object level, while 2D methods have gradually evolved from computing simple bounding boxes to delivering finer grained results like instance…

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…

There are many real-life use cases such as barcode scanning or billboard reading where people need to detect objects and read the object contents. Commonly existing methods are first trying to localize object regions, then determine layout…