相关论文: GNC-Pose: Geometry-Aware GNC-PnP for Accurate 6D P…

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To generalise the learned…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

Recent advances in feature learning have shown that self-supervised vision foundation models can capture semantic correspondences but often lack awareness of underlying 3D geometry. GECO addresses this gap by producing geometrically…

Recent studies have shown remarkable advances in 3D human pose estimation from monocular images, with the help of large-scale in-door 3D datasets and sophisticated network architectures. However, the generalizability to different…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

Monocular object pose estimation, as a pivotal task in computer vision and robotics, heavily depends on accurate 2D-3D correspondences, which often demand costly CAD models that may not be readily available. Object 3D reconstruction methods…

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 this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

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 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…