Related papers: ZeroBP: Learning Position-Aware Correspondence for…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

We present the evaluation methodology, datasets and results of the BOP Challenge 2023, the fifth in a series of public competitions organized to capture the state of the art in model-based 6D object pose estimation from an RGB/RGB-D image…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…

We introduce Any6D, a model-free framework for 6D object pose estimation that requires only a single RGB-D anchor image to estimate both the 6D pose and size of unknown objects in novel scenes. Unlike existing methods that rely on textured…

Transferring the pose of a reference avatar to stylized 3D characters of various shapes is a fundamental task in computer graphics. Existing methods either require the stylized characters to be rigged, or they use the stylized character in…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

This paper introduces a novel framework for zero-shot learning (ZSL), i.e., to recognize new categories that are unseen during training, by using a multi-model and multi-alignment integration method. Specifically, we propose three…

Hashing algorithms have been widely used in large-scale image retrieval tasks, especially for seen class data. Zero-shot hashing algorithms have been proposed to handle unseen class data. The key technique in these algorithms involves…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries and occlusions introduce visual ambiguities, leading to…