相关论文: Optical Flow-Guided 6DoF Object Pose Tracking with…

Object pose estimation is a fundamental problem in computer vision and plays a critical role in virtual reality and embodied intelligence, where agents must understand and interact with objects in 3D space. Recently, score based generative…

Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an…

In this research we present a novel algorithm for background subtraction using a moving camera. Our algorithm is based purely on visual information obtained from a camera mounted on an electric bus, operating in downtown Reno which…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

Tracking 6D poses of objects from videos provides rich information to a robot in performing different tasks such as manipulation and navigation. In this work, we formulate the 6D object pose tracking problem in the Rao-Blackwellized…

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in $\mathrm{SE}(3)$ or estimate it indirectly via local feature matching. The former struggle with object…

Event-based vision sensors mimic the operation of biological retina and they represent a major paradigm shift from traditional cameras. Instead of providing frames of intensity measurements synchronously, at artificially chosen rates,…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond…

This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…

The field of multi-object tracking has recently seen a renewed interest in the good old schema of tracking-by-detection, as its simplicity and strong priors spare it from the complex design and painful babysitting of tracking-by-attention…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…

Lines provide the significantly richer geometric structural information about the environment than points, so lines are widely used in recent Visual Odometry (VO) works. Since VO with lines use line tracking results to locate and map, line…

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…

Multiple human tracking is a fundamental problem for scene understanding. Although both accuracy and speed are required in real-world applications, recent tracking methods based on deep learning have focused on accuracy and require…

We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and…