相关论文: SingRef6D: Monocular Novel Object Pose Estimation …

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

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…

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…

Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D…

The challenges of learning a robust 6D pose function lie in 1) severe occlusion and 2) systematic noises in depth images. Inspired by the success of point-pair features, the goal of this paper is to recover the 6D pose of an object instance…

Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…

We introduce GoTrack, an efficient and accurate CAD-based method for 6DoF object pose refinement and tracking, which can handle diverse objects without any object-specific training. Unlike existing tracking methods that rely solely on an…

Most recent 6D object pose estimation methods, including unsupervised ones, require many real training images. Unfortunately, for some applications, such as those in space or deep under water, acquiring real images, even unannotated, is…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Self-supervised depth estimation from monocular cameras in diverse outdoor conditions, such as daytime, rain, and nighttime, is challenging due to the difficulty of learning universal representations and the severe lack of labeled…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

We introduce MultiDiff, a novel approach for consistent novel view synthesis of scenes from a single RGB image. The task of synthesizing novel views from a single reference image is highly ill-posed by nature, as there exist multiple,…

On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocular methods have seen…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing methods for object pose estimation output a single 6D pose.…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

Monocular depth estimation from a single image is an ill-posed problem for computer vision due to insufficient reliable cues as the prior knowledge. Besides the inter-frame supervision, namely stereo and adjacent frames, extensive prior…

Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…