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

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

Ground-truth RGBD data are fundamental for a wide range of computer vision applications; however, those labeled samples are difficult to collect and time-consuming to produce. A common solution to overcome this lack of data is to employ…

6D Object Pose Estimation is a crucial yet challenging task in computer vision, suffering from a significant lack of large-scale datasets. This scarcity impedes comprehensive evaluation of model performance, limiting research advancements.…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Uni6D is the first 6D pose estimation approach to employ a unified backbone network to extract features from both RGB and depth images. We discover that the principal reasons of Uni6D performance limitations are Instance-Outside and…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Monocular depth estimation is very challenging because clues to the exact depth are incomplete in a single RGB image. To overcome the limitation, deep neural networks rely on various visual hints such as size, shade, and texture extracted…

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and…

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…