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

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Category-level 6D pose estimation aims to predict the poses and sizes of unseen objects from a specific category. Thanks to prior deformation, which explicitly adapts a category-specific 3D prior (i.e., a 3D template) to a given object…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Accurately estimating the shape of objects in dense clutters makes important contribution to robotic packing, because the optimal object arrangement requires the robot planner to acquire shape information of all existed objects. However,…

Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…

In the research area of human-robot interactions, the automatic estimation of the mass of a container manipulated by a person leveraging only visual information is a challenging task. The main challenges consist of occlusions, different…

Category-level 6D object pose estimation is typically formulated as a multi-category joint learning problem with fully shared model parameters. However, pronounced geometric heterogeneity across categories entangles incompatible…

Category-level object pose estimation aims to predict the 6D pose as well as the 3D metric size of arbitrary objects from a known set of categories. Recent methods harness shape prior adaptation to map the observed point cloud into the…

The accurate estimation of 6D pose remains a challenging task within the computer vision domain, even when utilizing 3D point cloud data. Conversely, in the manufacturing domain, instances arise where leveraging prior knowledge can yield…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

This study addresses the challenge of accurate 6D pose estimation in Augmented Reality (AR), a critical component for seamlessly integrating virtual objects into real-world environments. Our research primarily addresses the difficulty of…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

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…

Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…

Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…

Category-level object pose estimation aims to recover the rotation, translation and size of unseen instances within predefined categories. In this task, deep neural network-based methods have demonstrated remarkable performance. However,…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…