相关论文: Perception with Guarantees: Certified Pose Estimat…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

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…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Robotic-assistive therapy has demonstrated very encouraging results for children with Autism. Accurate estimation of the child's pose is essential both for human-robot interaction and for therapy assessment purposes. Non-intrusive methods…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…

Estimating the 3D pose of a hand is an essential part of human-computer interaction. Estimating 3D pose using depth or multi-view sensors has become easier with recent advances in computer vision, however, regressing pose from a single RGB…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Object pose estimation is a core computer vision problem and often an essential component in robotics. Pose estimation is usually approached by seeking the single best estimate of an object's pose, but this approach is ill-suited for tasks…

Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training…

Pose estimation is essential for many applications within computer vision and robotics. Despite its uses, few works provide rigorous uncertainty quantification for poses under dense or learned models. We derive a closed-form lower bound on…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…

Object pose estimation is an important component of most vision pipelines for embodied agents, as well as in 3D vision more generally. In this paper we tackle the problem of estimating the pose of novel object categories in a zero-shot…

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…