相关论文: Exploring Category-level Articulated Object Pose T…

Tracking object poses in 3D is a crucial building block for Augmented Reality applications. We propose an instant motion tracking system that tracks an object's pose in space (represented by its 3D bounding box) in real-time on mobile…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Recent advances in visual tracking are based on siamese feature extractors and template matching. For this category of trackers, latest research focuses on better feature embeddings and similarity measures. In this work, we focus on…

Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…

We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our framework provides a scalable way for specifying new tasks using…

Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…

Precision pose detection is increasingly demanded in fields such as personal fabrication, Virtual Reality (VR), and robotics due to its critical role in ensuring accurate positioning information. However, conventional vision-based systems…

In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…

Multi-person articulated pose tracking in unconstrained videos is an important while challenging problem. In this paper, going along the road of top-down approaches, we propose a decent and efficient pose tracker based on pose flows. First,…

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

Visual object tracking has significantly promoted autonomous applications for unmanned aerial vehicles (UAVs). However, learning robust object representations for UAV tracking is especially challenging in complex dynamic environments, when…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…

In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…

3D single object tracking (SOT) is an important and challenging task for the autonomous driving and mobile robotics. Most existing methods perform tracking between two consecutive frames while ignoring the motion patterns of the target over…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

Object skeletons offer a concise representation of structural information, capturing essential aspects of posture and orientation that are crucial for autonomous driving applications. However, a unified architecture that simultaneously…