相关论文: High-Precision 6DOF Pose Estimation via Global Pha…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

It is a challenge for Phase Measurement Profilometry (PMP) to measure objects with a large range of reflectivity variation across the surface. Saturated or dark pixels in the deformed fringe patterns captured by the camera will lead to…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

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.…

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,…

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…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Microscopic fringe projection profilometry is a powerful 3D measurement technique with a theoretical measurement accuracy better than one micron provided that the measured targets can be imaged with good fringe visibility. However,…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Accurately recovering 6D poses in densely packed industrial bin-picking environments remain a serious challenge, owing to occlusions, reflections, and textureless parts. We introduce a holistic depth-only 6D pose estimation approach that…

Fourier ptychography (FP), as a computational imaging method, is a powerful tool to improve imaging resolution. Camera-scanning Fourier ptychography extends the application of FP from micro to macro creatively. Due to the non-ideal scanning…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

In phase-shifting profilometry (PSP), any motion during the acquisition of fringe patterns can introduce errors because it assumes both the object and measurement system are stationary. Therefore, we propose a method to pixel-wise reduce…

Fringe projection profilometry (FPP) has become increasingly important in dynamic 3-D shape measurement. In FPP, it is necessary to retrieve the phase of the measured object before shape profiling. However, traditional phase retrieval…

Some robust point cloud registration approaches with controllable pose refinement magnitude, such as ICP and its variants, are commonly used to improve 6D pose estimation accuracy. However, the effectiveness of these methods gradually…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

In 3D face reconstruction, orthogonal projection has been widely employed to substitute perspective projection to simplify the fitting process. This approximation performs well when the distance between camera and face is far enough.…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…