Related papers: Open-Pose 3D Zero-Shot Learning: Benchmark and Cha…
While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…
Despite significant progress in object categorization, in recent years, a number of important challenges remain; mainly, the ability to learn from limited labeled data and to recognize object classes within large, potentially open, set of…
The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…
Recent advancements in 3D object detection and novel category detection have made significant progress, yet research on learning generalized 3D objectness remains insufficient. In this paper, we delve into learning open-world 3D objectness,…
The development of advanced 3D sensors has enabled many objects to be captured in the wild at a large scale, and a 3D object recognition system may therefore encounter many objects for which the system has received no training. Zero-Shot…
In real-world recognition/classification tasks, limited by various objective factors, it is usually difficult to collect training samples to exhaust all classes when training a recognizer or classifier. A more realistic scenario is open set…
Zero-shot classification of image scenes which can recognize the image scenes that are not seen in the training stage holds great promise of lowering the dependence on large numbers of labeled samples. To address the zero-shot image scene…
The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…
Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However despite the increasing ubiquity of 3D sensors, the corresponding…
Large-scale vision 2D vision language models, such as CLIP can be aligned with a 3D encoder to learn generalizable (open-vocabulary) 3D vision models. However, current methods require supervised pre-training for such alignment, and the…
We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…
Recent open-world 3D representation learning methods using Vision-Language Models (VLMs) to align 3D point cloud with image-text information have shown superior 3D zero-shot performance. However, CAD-rendered images for this alignment often…
Bin-picking is a practical and challenging robotic manipulation task, where accurate 6D pose estimation plays a pivotal role. The workpieces in bin-picking are typically textureless and randomly stacked in a bin, which poses a significant…
Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…
We propose a novel zero-shot approach to computing correspondences between 3D shapes. Existing approaches mainly focus on isometric and near-isometric shape pairs (e.g., human vs. human), but less attention has been given to strongly…
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…
Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…
In recent years there has been significant progress in the field of 3D learning on classification, detection and segmentation problems. The vast majority of the existing studies focus on canonical closed-set conditions, neglecting the…
Zero-shot learning deals with the ability to recognize objects without any visual training sample. To counterbalance this lack of visual data, each class to recognize is associated with a semantic prototype that reflects the essential…
3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…