Related papers: Cameras as Rays: Pose Estimation via Ray Diffusion

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

3D pose estimation is a key component of many important computer vision tasks such as autonomous navigation and 3D scene understanding. Most state-of-the-art approaches to 3D pose estimation solve this problem as a pose-classification…

We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…

We introduce GazeD, a new 3D gaze estimation method that jointly provides 3D gaze and human pose from a single RGB image. Leveraging the ability of diffusion models to deal with uncertainty, it generates multiple plausible 3D gaze and pose…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

The computer vision community has developed numerous techniques for digitally restoring true scene information from single-view degraded photographs, an important yet extremely ill-posed task. In this work, we tackle image restoration from…

We propose SparseFusion, a sparse view 3D reconstruction approach that unifies recent advances in neural rendering and probabilistic image generation. Existing approaches typically build on neural rendering with re-projected features but…

Image restoration aims to recover high-quality images from degraded observations. When the degradation process is known, the recovery problem can be formulated as an inverse problem, and in a Bayesian context, the goal is to sample a clean…

In this paper a method for camera pose estimation from a sequence of images is presented. The method assumes camera is calibrated (intrinsic parameters are known) which allows to decrease a number of required pairs of corresponding points…

Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Accurate 3D human pose estimation remains a critical yet unresolved challenge, requiring both temporal coherence across frames and fine-grained modeling of joint relationships. However, most existing methods rely solely on geometric cues…

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…

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…

Numerous works have recently integrated 3D camera control into foundational text-to-video models, but the resulting camera control is often imprecise, and video generation quality suffers. In this work, we analyze camera motion from a first…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…