Related papers: GenPose: Generative Category-level Object Pose Est…

Recent breakthroughs in diffusion models, multimodal pretraining, and efficient finetuning have led to an explosion of text-to-image generative models. Given human evaluation is expensive and difficult to scale, automated methods are…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

In this paper we consider the problem of human pose estimation from a single still image. We propose a novel approach where each location in the image votes for the position of each keypoint using a convolutional neural net. The voting…

Diffusion models have become central to various image editing tasks, yet they often fail to fully adhere to physical laws, particularly with effects like shadows, reflections, and occlusions. In this work, we address the challenge of…

Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of…

Anomaly localization in images -- identifying regions that deviate from normal patterns -- is vital in applications such as medical diagnosis and industrial inspection. A recent trend is the use of image generation models in anomaly…

Pose distillation is widely adopted to reduce model size in human pose estimation. However, existing methods primarily emphasize the transfer of teacher knowledge while often neglecting the performance degradation resulted from the curse of…

Pose-Guided Person Image Synthesis (PGPIS) generates images that maintain a subject's identity from a source image while adopting a specified target pose (e.g., skeleton). While diffusion-based PGPIS methods effectively preserve facial…

Text-conditioned image generation models have recently shown immense qualitative success using denoising diffusion processes. However, unlike discriminative vision-and-language models, it is a non-trivial task to subject these…

We introduce a novel approach for 3D whole-body pose estimation, addressing the challenge of scale -- and deformability -- variance across body parts brought by the challenge of extending the 17 major joints on the human body to…

Generative models such as Variational Autoencoders (VAEs) and Generative Adversarial Networks (GANs) have shown promise in sequential recommendation tasks. However, they face challenges, including posterior collapse and limited…

In this work we integrate ideas from surface-based modeling with neural synthesis: we propose a combination of surface-based pose estimation and deep generative models that allows us to perform accurate pose transfer, i.e. synthesize a new…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision language models show remarkable zero-shot capabilities. In this…

To enable versatile robot manipulation, robots must detect task-relevant poses for different purposes from raw scenes. Currently, many perception algorithms are designed for specific purposes, which limits the flexibility of the perception…

Despite the progress of learning-based methods for 6D object pose estimation, the trade-off between accuracy and scalability for novel objects still exists. Specifically, previous methods for novel objects do not make good use of the target…