Related papers: Omni6DPose: A Benchmark and Model for Universal 6D…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Human pose estimation (HPE) with convolutional neural networks (CNNs) for indoor monitoring is one of the major challenges in computer vision. In contrast to HPE in perspective views, an indoor monitoring system can consist of an…

While RGBD-based methods for category-level object pose estimation hold promise, their reliance on depth data limits their applicability in diverse scenarios. In response, recent efforts have turned to RGB-based methods; however, they face…

We would like to estimate the pose and full shape of an object from a single observation, without assuming known 3D model or category. In this work, we propose OmniShape, the first method of its kind to enable probabilistic pose and shape…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…

A key challenge in model-free category-level pose estimation is the extraction of contextual object features that generalize across varying instances within a specific category. Recent approaches leverage foundational features to capture…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

Given a single scene image, this paper proposes a method of Category-level 6D Object Pose and Size Estimation (COPSE) from the point cloud of the target object, without external real pose-annotated training data. Specifically, beyond the…

6D object pose estimation suffers from reduced accuracy when applied to metallic objects. We set out to improve the state-of-the-art by addressing challenges such as reflections and specular highlights in industrial applications. Our novel…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

We present a large-scale stereo RGB image object pose estimation dataset named the $\textbf{StereOBJ-1M}$ dataset. The dataset is designed to address challenging cases such as object transparency, translucency, and specular reflection, in…

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…

Recognizing scenes and objects in 3D from a single image is a longstanding goal of computer vision with applications in robotics and AR/VR. For 2D recognition, large datasets and scalable solutions have led to unprecedented advances. In 3D,…

Recovering dense human poses from images plays a critical role in establishing an image-to-surface correspondence between RGB images and the 3D surface of the human body, serving the foundation of rich real-world applications, such as…

Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…