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3D Object Registration from Color Images

Vincent Lepetit (University of Bordeaux)

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What
    When Nov 30, 2018
    from 10:00 to 11:00
    Where CP1-HSZ / Hörsaal 1
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    I will describe our current approach to 3D object detection and pose estimation from color images only. We first introduce a "holistic" approach that relies on a representation of a 3D pose suitable to Deep Networks and on a feedback loop. This approach, like many previous ones is however not sufficient for handling objects with an axis of rotational symmetry, as the pose of these objects is in fact ambiguous. We show how to relax this ambiguity with a combination of classification and regression. I will then show how we tackle the domain gap between real images and synthetic images, in order to use synthetic images to train our models. Finally, I will present our recent extension to deal with large partial occlusions.

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