相关论文: MAPRPose: Mask-Aware Proposal and Amodal Refinemen…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

This study addresses the challenge of accurate 6D pose estimation in Augmented Reality (AR), a critical component for seamlessly integrating virtual objects into real-world environments. Our research primarily addresses the difficulty of…

Most of existing detection pipelines treat object proposals independently and predict bounding box locations and classification scores over them separately. However, the important semantic and spatial layout correlations among proposals are…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

One of the major challenges in multi-person pose estimation is instance-aware keypoint estimation. Previous methods address this problem by leveraging an off-the-shelf detector, heuristic post-grouping process or explicit instance…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…

We develop a robust multi-scale structure-aware neural network for human pose estimation. This method improves the recent deep conv-deconv hourglass models with four key improvements: (1) multi-scale supervision to strengthen contextual…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…