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This work addresses the problem of estimating the 6D Pose of specific objects from a single RGB-D image. We present a flexible approach that can deal with generic objects, both textured and texture-less. The key new concept is a learned, intermediate representation in form of a dense 3D object coordinate labelling paired with a dense class labelling. We are(More)
During cell division, spindle microtubules attach to chromosomes through kinetochores, protein complexes on the chromosome. The central question is how microtubules find kinetochores. According to the pioneering idea termed search-and-capture, numerous microtubules grow from a centrosome in all directions and by chance capture kinetochores. The efficiency(More)
In recent years, the task of estimating the 6D pose of object instances and complete scenes, i.e. camera localization, from a single input image has received considerable attention. Consumer RGB-D cameras have made this feasible, even for difficult, texture-less objects and scenes. In this work, we show that a single RGB image is sufficient to achieve(More)
Cytoplasmic dynein is a motor protein that exerts force on microtubules. To generate force for the movement of large organelles, dynein needs to be anchored, with the anchoring sites being typically located at the cell cortex. However, the mechanism by which dyneins target sites where they can generate large collective forces is unknown. Here, we directly(More)
Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a forward process, such as a rendered image of the object of interest in a particular pose. Due to occlusion or(More)
This work investigates the problem of 6-Degrees-Of-Freedom (6-DOF) object tracking from RGB-D images, where the object is rigid and a 3D model of the object is known. As in many previous works, we utilize a Particle Filter (PF) framework. In order to have a fast tracker, the key aspect is to design a clever proposal distribution which works reliably even(More)
In fission yeast, microtubules push against the cell edge, thereby positioning the nucleus in the cell center. Kinesin-8 motors regulate microtubule catastrophe; however, their role in nuclear positioning is not known. Here we develop a physical model that describes how kinesin-8 motors affect nuclear centering by promoting a microtubule catastrophe. Our(More)
Kinetochores are protein complexes on the chromosomes, whose function as linkers between spindle microtubules and chromosomes is crucial for proper cell division. The mechanisms that facilitate kinetochore capture by microtubules are still unclear. In the present study, we combine experiments and theory to explore the mechanisms of kinetochore capture at(More)
In this paper, we address the problem of one shot pose estimation of articulated objects from an RGB-D image. In particular, we consider object instances with the topol-ogy of a kinematic chain, i.e. assemblies of rigid parts connected by prismatic or revolute joints. This object type occurs often in daily live, for instance in the form of furniture or(More)
— This work addresses the task of camera localiza-tion in a known 3D scene, given a single input RGB image. State-of-the-art approaches accomplish this with two steps. Firstly, regressing for every pixel in the image its so-called 3D scene coordinate and, subsequently, using those coordinates to estimate the final 6D camera pose via RANSAC. To solve the(More)