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

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Deep learning has revolutionized object detection thanks to large-scale datasets, but their object categories are still arguably very limited. In this paper, we attempt to enrich such categories by addressing the one-shot object detection…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

We propose an end-to-end learning framework for generating foreground object segmentations. Given a single novel image, our approach produces pixel-level masks for all "object-like" regions---even for object categories never seen during…

Object pose estimation is crucial for robotic applications and augmented reality. Beyond instance level 6D object pose estimation methods, estimating category-level pose and shape has become a promising trend. As such, a new research field…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work…

This study is a part of design of an audio system for in-house object detection system for visually impaired, low vision personnel by birth or by an accident or due to old age. The input of the system will be scene and output as audio.…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…