相关论文: Correct-by-Construction Vision-based Pose Estimati…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Various deep learning techniques have been proposed to solve the single-view 2D-to-3D pose estimation problem. While the average prediction accuracy has been improved significantly over the years, the performance on hard poses with depth…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

The perceptual-based grouping process produces a hierarchical and compositional image representation that helps both human and machine vision systems recognize heterogeneous visual concepts. Examples can be found in the classical…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

Deep generative models have shown great promise when it comes to synthesising novel images. While they can generate images that look convincing on a higher-level, generating fine-grained details is still a challenge. In order to foster…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

Graph convolutional neural networks (GCNN) have been successfully applied to many different graph based learning tasks including node and graph classification, matrix completion, and learning of node embeddings. Despite their impressive…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

In this paper, we propose a pose grammar to tackle the problem of 3D human pose estimation. Our model directly takes 2D pose as input and learns a generalized 2D-3D mapping function. The proposed model consists of a base network which…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

One of the core activities of an active observer involves moving to secure a "better" view of the scene, where the definition of "better" is task-dependent. This paper focuses on the task of human pose estimation from videos capturing a…

We propose a method for learning landmark detectors for visual objects (such as the eyes and the nose in a face) without any manual supervision. We cast this as the problem of generating images that combine the appearance of the object as…