Related papers: OV9D: Open-Vocabulary Category-Level 9D Object Pos…

Open-vocabulary object detection (OVOD) aims at localizing and recognizing visual objects from novel classes unseen at the training time. Whereas, empirical studies reveal that advanced detectors generally assign lower scores to those novel…

Recent advances in modeling 3D objects mostly rely on synthetic datasets due to the lack of large-scale realscanned 3D databases. To facilitate the development of 3D perception, reconstruction, and generation in the real world, we propose…

Existing open-vocabulary object detectors typically enlarge their vocabulary sizes by leveraging different forms of weak supervision. This helps generalize to novel objects at inference. Two popular forms of weak-supervision used in…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

Advances in deep learning recognition have led to accurate object detection with 2D images. However, these 2D perception methods are insufficient for complete 3D world information. Concurrently, advanced 3D shape estimation approaches focus…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Estimating the 9D pose of everyday objects from a single real-world image remains challenging. This is largely due to the lack of large-scale supervision. Most existing datasets either rely heavily on synthetic renderings or provide limited…

Traditional object detection methods operate under the closed-set assumption, where models can only detect a fixed number of objects predefined in the training set. Recent works on open vocabulary object detection (OVD) enable the detection…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Open-vocabulary segmentation is the task of segmenting anything that can be named in an image. Recently, large-scale vision-language modelling has led to significant advances in open-vocabulary segmentation, but at the cost of gargantuan…

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Object detection has been expanded from a limited number of categories to open vocabulary. Moving forward, a complete intelligent vision system requires understanding more fine-grained object descriptions, object parts. In this paper, we…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

The ability to recognize, localize and track dynamic objects in a scene is fundamental to many real-world applications, such as self-driving and robotic systems. Yet, traditional multiple object tracking (MOT) benchmarks rely only on a few…

Despite great progress in object detection, most existing methods work only on a limited set of object categories, due to the tremendous human effort needed for bounding-box annotations of training data. To alleviate the problem, recent…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Conventional object detectors typically operate under a closed-set assumption, limiting recognition to a predefined set of base classes seen during training. Open-vocabulary object detection (OVD) addresses this limitation by leveraging…

Most learning-based approaches to category-level 6D pose estimation are design around normalized object coordinate space (NOCS). While being successful, NOCS-based methods become inaccurate and less robust when handling objects of a…