相关论文: VBM-NET: Visual Base Pose Learning for Mobile Mani…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

Recently, the advancement of self-supervised learning techniques, like masked autoencoders (MAE), has greatly influenced visual representation learning for images and videos. Nevertheless, it is worth noting that the predominant approaches…

Most of the existing deep learning-based methods for 3D hand and human pose estimation from a single depth map are based on a common framework that takes a 2D depth map and directly regresses the 3D coordinates of keypoints, such as hand or…

In this paper, we address the problem of detecting unseen objects from RGB images and estimating their poses in 3D. We propose two mobile friendly networks: MobilePose-Base and MobilePose-Shape. The former is used when there is only pose…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

Transformer-based general visual geometry frameworks have shown promising performance in camera pose estimation and 3D scene understanding. Recent advancements in Visual Geometry Grounded Transformer (VGGT) models have shown great promise…

Vision-based bronchoscopy (VB) models require the registration of the virtual lung model with the frames from the video bronchoscopy to provide effective guidance during the biopsy. The registration can be achieved by either tracking the…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…

Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…

Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…

Graph representation of objects and their relations in a scene, known as a scene graph, provides a precise and discernible interface to manipulate a scene by modifying the nodes or the edges in the graph. Although existing works have shown…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

The task of human pose estimation (HPE) deals with the ill-posed problem of estimating the 3D position of human joints directly from images and videos. In recent literature, most of the works tackle the problem mostly by using convolutional…

Forecasting the future traffic flow distribution in an area is an important issue for traffic management in an intelligent transportation system. The key challenge of traffic prediction is to capture spatial and temporal relations between…

Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…