相关论文: Box6D : Zero-shot Category-level 6D Pose Estimatio…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

In recent years, the throughput requirements of e-commerce fulfillment warehouses have seen a steep increase. This has resulted in various automation solutions being developed for item picking and movement. In this paper, we address the…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

In this paper, we introduce a new public dataset for 6D object pose estimation and instance segmentation for industrial bin-picking. The dataset comprises both synthetic and real-world scenes. For both, point clouds, depth images, and…

In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. To detect and grasp novel objects, zero-shot pose estimators determine poses without prior knowledge. Recently,…

This paper studies a new open-set problem, the open-vocabulary category-level object pose and size estimation. Given human text descriptions of arbitrary novel object categories, the robot agent seeks to predict the position, orientation,…

We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose and shape of the object despite intra-class variability…

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

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…

Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed. This work provides an overview of the field in terms of methods, datasets, and evaluation protocols. First, an overview of…

In this paper we present Latent-Class Hough Forests, a method for object detection and 6 DoF pose estimation in heavily cluttered and occluded scenarios. We adapt a state of the art template matching feature into a scale-invariant patch…

Compact and efficient 6DoF object pose estimation is crucial in applications such as robotics, augmented reality, and space autonomous navigation systems, where lightweight models are critical for real-time accurate performance. This paper…

Detecting and localizing objects in space is a fundamental computer vision problem. While much progress has been made to solve 2D object detection, 3D object localization is much less explored and far from solved, especially for open-world…

3D object detection is fundamental for spatial understanding. Real-world environments demand models capable of recognizing diverse, previously unseen objects, which remains a major limitation of closed-set methods. Existing open-vocabulary…