Related papers: MMGSD: Multi-Modal Gaussian Shape Descriptors for …
This paper introduces a learnable Deformable Hypothesis Sampler (DeformSampler) to address the challenging issue of noisy depth estimation for accurate PatchMatch Multi-View Stereo (MVS). We observe that the heuristic depth hypothesis…
Weakly supervised object detection (WSOD) aims at learning precise object detectors with only image-level tags. In spite of intensive research on deep learning (DL) approaches over the past few years, there is still a significant…
We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…
We describe MPSE: a Multi-Perspective Simultaneous Embedding method for visualizing high-dimensional data, based on multiple pairwise distances between the data points. Specifically, MPSE computes positions for the points in 3D and provides…
In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…
Estimating the 6D pose of an object from a single RGB image is a critical task that becomes additionally challenging when dealing with symmetric objects. Recent approaches typically establish one-to-one correspondences between image pixels…
This paper proposes MCSSL, a self-supervised learning approach for building custom object detection models in multi-camera networks. MCSSL associates bounding boxes between cameras with overlapping fields of view by leveraging epipolar…
We present an unsupervised data-driven approach for non-rigid shape matching. Shape matching identifies correspondences between two shapes and is a fundamental step in many computer vision and graphics applications. Our approach is designed…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
3D Morphable Model (3DMM) fitting has widely benefited face analysis due to its strong 3D priori. However, previous reconstructed 3D faces suffer from degraded visual verisimilitude due to the loss of fine-grained geometry, which is…
Multifold observations are common for different data modalities, e.g., a 3D shape can be represented by multi-view images and an image can be described with different captions. Existing cross-modal contrastive representation learning…
Semantic matching aims to establish pixel-level correspondences between instances of the same category and represents a fundamental task in computer vision. Existing approaches suffer from two limitations: (i) Geometric Ambiguity: Their…
Correspondence identification (CoID) is an essential component for collaborative perception in multi-robot systems, such as connected autonomous vehicles. The goal of CoID is to identify the correspondence of objects observed by multiple…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…
Dense 3D correspondence can enhance robotic manipulation by enabling the generalization of spatial, functional, and dynamic information from one object to an unseen counterpart. Compared to shape correspondence, semantic correspondence is…
We present a novel self-supervised approach for representation learning, particularly for the task of Visual Relationship Detection (VRD). Motivated by the effectiveness of Masked Image Modeling (MIM), we propose Masked Bounding Box…
3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…
Multimodal manifold modeling methods extend the spectral geometry-aware data analysis to learning from several related and complementary modalities. Most of these methods work based on two major assumptions: 1) there are the same number of…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…