DeepRoom: 3D Room Layout and Pose Estimation from a Single Image

2020 ◽  
pp. 719-733
Author(s):  
Hung Jin Lin ◽  
Shang-Hong Lai
Keyword(s):  
Pose Estimation ◽  
Single Image

Single image-based head pose estimation with spherical parametrization and 3D morphing

2020 ◽  
Vol 103 ◽  
pp. 107316 ◽  
Author(s):  
Hui Yuan ◽  
Mengyu Li ◽  
Junhui Hou ◽  
Jimin Xiao
Keyword(s):  
Pose Estimation ◽  
Head Pose Estimation ◽  
Head Pose ◽  
Single Image ◽  
Spherical Parametrization

scholarly journals Pose Estimation of Uncooperative Unknown Space Objects from a Single Image

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Xiaoyuan Ren ◽  
Libing Jiang ◽  
Zhuang Wang
Keyword(s):  
Pose Estimation ◽  
Experimental Results ◽  
Single Image ◽  
Space Object ◽  
Shape Model ◽  
Structure Information ◽  
Space Objects ◽  
Specific Object ◽  
Unknown Objects ◽  
Unknown Object

Estimating the 3D pose of the space object from a single image is an important but challenging work. Most of the existing methods estimate the 3D pose of known space objects and assume that the detailed geometry of a specific object is known. These methods are not available for unknown objects without the known geometry of the object. In contrast to previous works, this paper devotes to estimate the 3D pose of the unknown space object from a single image. Our method estimates not only the pose but also the shape of the unknown object from a single image. In this paper, a hierarchical shape model is proposed to represent the prior structure information of typical space objects. On this basis, the parameters of the pose and shape are estimated simultaneously for unknown space objects. Experimental results demonstrate the effectiveness of our method to estimate the 3D pose and infer the geometry of unknown typical space objects from a single image. Moreover, experimental results show the advantage of our approach over the methods relying on the known geometry of the object.

Can we Localize an AV from a Single Image? Deep-Geometric 6 DoF Localization in Topo-metric Maps

2021 ◽  
pp. 1-13
Author(s):  
Punarjay Chakravarty ◽  
Tom Roussel ◽  
Gaurav Pandey ◽  
Tinne Tuytelaars
Keyword(s):  
Pose Estimation ◽  
Autonomous Vehicles ◽  
Hybrid Algorithm ◽  
Degrees Of Freedom ◽  
Single Camera ◽  
Single Image ◽  
Six Degrees Of Freedom ◽  
Localization Algorithms ◽  
Mapping Process ◽  
Set Of Points

Abstract We describe a Deep-Geometric Localizer that is able to estimate the full six degrees-of-freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological nodes whose 6DOF poses are known. Each topo-node in our map also comprises of a set of points, whose 2D features and 3D locations are stored as part of the mapping process. For the mapping phase, we utilise a stereo camera and a regular stereo visual SLAM pipeline. During the localization phase, we take a single camera image, localize it to a topological node using Deep Learning, and use a geometric algorithm (PnP) on the matched 2D features (and their 3D positions in the topo map) to determine the full 6DOF globally consistent pose of the camera. Our method divorces the mapping and the localization algorithms and sensors (stereo and mono), and allows accurate 6DOF pose estimation in a previously mapped environment using a single camera. With results in simulated and real environments, our hybrid algorithm is particularly useful for autonomous vehicles (AVs) and shuttles that might repeatedly traverse the same route.

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