RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluation

1 code implementation • 19 Jan 2023 • Leonard Bruns, Patric Jensfelt

Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed.

A Probabilistic Framework for Visual Localization in Ambiguous Scenes

1 code implementation • 5 Jan 2023 • Fereidoon Zangeneh, Leonard Bruns, Amit Dekel, Alessandro Pieropan, Patric Jensfelt

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones.

Variational Inference Visual Localization

SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fields

1 code implementation • 11 Jul 2022 • Leonard Bruns, Patric Jensfelt

Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation.

SDF-based RGB-D Camera Tracking in Neural Scene Representations

no code implementations • 4 May 2022 • Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt

We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation.

On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation

1 code implementation • 21 Feb 2022 • Leonard Bruns, Patric Jensfelt

Recently, various methods for 6D pose and shape estimation of objects have been proposed.

Pose Estimation