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

Category-agnostic pose estimation (CAPE) aims to localize keypoints on query images from arbitrary categories, using only a few annotated support examples for guidance. Recent approaches either treat keypoints as isolated entities or rely…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

Diffusion models are a new class of generative models, and have dramatically promoted image generation with unprecedented quality and diversity. Existing diffusion models mainly try to reconstruct input image from a corrupted one with a…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…

Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe…

Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods…

Generative models have advanced significantly in realistic image synthesis, with diffusion models excelling in quality and stability. Recent multi-view diffusion models improve 3D-aware street view generation, but they struggle to produce…

Novel view synthesis from a single input image is a challenging task, where the goal is to generate a new view of a scene from a desired camera pose that may be separated by a large motion. The highly uncertain nature of this synthesis task…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

Object-level mapping builds a 3D map of objects in a scene with detailed shapes and poses from multi-view sensor observations. Conventional methods struggle to build complete shapes and estimate accurate poses due to partial occlusions and…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii)…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…

We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images. GigaPose first leverages discriminative "templates", rendered images of the CAD models, to recover the out-of-plane rotation…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

A generative modeling framework is proposed that combines diffusion models and manifold learning to efficiently sample data densities on manifolds. The approach utilizes Diffusion Maps to uncover possible low-dimensional underlying (latent)…