相关论文: WildPose: A Unified Framework for Robust Pose Esti…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

Multi-person pose estimation is fundamental to many computer vision tasks and has made significant progress in recent years. However, few previous methods explored the problem of pose estimation in crowded scenes while it remains…

Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

Camera captured human pose is an outcome of several sources of variation. Performance of supervised 3D pose estimation approaches comes at the cost of dispensing with variations, such as shape and appearance, that may be useful for solving…

We present a bundle-adjustment-based algorithm for recovering accurate 3D human pose and meshes from monocular videos. Unlike previous algorithms which operate on single frames, we show that reconstructing a person over an entire sequence…

Human pose plays a crucial role in the digital age. While recent works have achieved impressive progress in understanding and generating human poses, they often support only a single modality of control signals and operate in isolation,…

Human pose estimation in videos remains a challenge, largely due to the reliance on extensive manual annotation of large datasets, which is expensive and labor-intensive. Furthermore, existing approaches often struggle to capture long-range…

We propose a CNN-based approach for 3D human body pose estimation from single RGB images that addresses the issue of limited generalizability of models trained solely on the starkly limited publicly available 3D pose data. Using only the…

We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…

We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…