Related papers: ID-Pose: Sparse-view Camera Pose Estimation by Inv…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

In supervised learning for image denoising, usually the paired clean images and noisy images are collected or synthesised to train a denoising model. L2 norm loss or other distance functions are used as the objective function for training.…

Previous raw image-based low-light image enhancement methods predominantly relied on feed-forward neural networks to learn deterministic mappings from low-light to normally-exposed images. However, they failed to capture critical…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Detecting anomalies in images has become a well-explored problem in both academia and industry. State-of-the-art algorithms are able to detect defects in increasingly difficult settings and data modalities. However, most current methods are…

Single camera 3D pose estimation is an ill-defined problem due to inherent ambiguities from depth, occlusion or keypoint noise. Multi-hypothesis pose estimation accounts for this uncertainty by providing multiple 3D poses consistent with…

In general, human pose estimation methods are categorized into two approaches according to their architectures: regression (i.e., heatmap-free) and heatmap-based methods. The former one directly estimates precise coordinates of each…

3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in…

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges…

Monocular depth estimation is a challenging task that predicts the pixel-wise depth from a single 2D image. Current methods typically model this problem as a regression or classification task. We propose DiffusionDepth, a new approach that…

Accurate camera viewpoint estimation under sparse-view conditions remains challenging, particularly in two-view scenarios. Recent approaches leverage diffusion models such as Zero123 to synthesize novel views conditioned on relative…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Portrait customization (PC) has recently garnered significant attention due to its potential applications. However, existing PC methods lack precise identity (ID) preservation and face control. To address these tissues, we propose Diff-PC,…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

While diffusion priors generate high-quality posterior samples across many inverse problems, they are often trained on limited training sets or purely simulated data, thus inheriting the errors and biases of these underlying sources.…

This paper introduces GS-Pose, a unified framework for localizing and estimating the 6D pose of novel objects. GS-Pose begins with a set of posed RGB images of a previously unseen object and builds three distinct representations stored in a…

The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…