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Estimating a 6DOF object pose from a single image is very challenging due to occlusions or textureless appearances. Vector-field based keypoint voting has demonstrated its effectiveness and superiority on tackling those issues. However,…

This paper considers online object-level mapping using partial point-cloud observations obtained online in an unknown environment. We develop and approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR).…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Fine-grained visual classification (FGVC) aims to classify sub-classes of objects in the same super-class (e.g., species of birds, models of cars). For the FGVC tasks, the essential solution is to find discriminative subtle information of…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Fine-grained recognition is challenging due to its subtle local inter-class differences versus large intra-class variations such as poses. A key to address this problem is to localize discriminative parts to extract pose-invariant features.…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

We present GNC-Pose, a fully learning-free monocular 6D object pose estimation pipeline for textured objects that combines rendering-based initialization, geometry-aware correspondence weighting, and robust GNC optimization. Starting from…

Recently, 3D face reconstruction and face alignment tasks are gradually combined into one task: 3D dense face alignment. Its goal is to reconstruct the 3D geometric structure of face with pose information. In this paper, we propose a graph…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

We present region-based, fully convolutional networks for accurate and efficient object detection. In contrast to previous region-based detectors such as Fast/Faster R-CNN that apply a costly per-region subnetwork hundreds of times, our…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

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…

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large…

In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…

Learning fine-grained details is a key issue in image aesthetic assessment. Most of the previous methods extract the fine-grained details via random cropping strategy, which may undermine the integrity of semantic information. Extensive…

In this work we use deep learning to establish dense correspondences between a 3D object model and an image "in the wild". We introduce "DenseReg", a fully-convolutional neural network (F-CNN) that densely regresses at every foreground…

Feature extraction and matching are two crucial components in person Re-Identification (ReID). The large pose deformations and the complex view variations exhibited by the captured person images significantly increase the difficulty of…