Related papers: GCE-Pose: Global Context Enhancement for Category-…
In the field of 3D Human Pose Estimation (HPE), accurately estimating human pose, especially in scenarios with occlusions, is a significant challenge. This work identifies and addresses a gap in the current state of the art in 3D HPE…
Incremental semantic segmentation aims to continually learn the segmentation of new coming classes without accessing the training data of previously learned classes. However, most current methods fail to address catastrophic forgetting and…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…
Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…
Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…
Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…
Traditional 2D pose estimation models are limited by their category-specific design, making them suitable only for predefined object categories. This restriction becomes particularly challenging when dealing with novel objects due to the…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
We present a deep learning model, dubbed Glissando-Net, to simultaneously estimate the pose and reconstruct the 3D shape of objects at the category level from a single RGB image. Previous works predominantly focused on either estimating…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…
In this work, we introduce a generative approach for pose-free (without camera parameters) reconstruction of 360 scenes from a sparse set of 2D images. Pose-free scene reconstruction from incomplete, pose-free observations is usually…
We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…
This paper addresses the task of estimating the 6D pose of a known 3D object from a single RGB-D image. Most modern approaches solve this task in three steps: i) Compute local features; ii) Generate a pool of pose-hypotheses; iii) Select…
3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…
Learning discriminative representations is a central goal of supervised deep learning. While cross-entropy (CE) remains the dominant objective for classification, it does not explicitly enforce desirable geometric properties in the…
This paper explores a novel setting called Generalized Category Discovery in Semantic Segmentation (GCDSS), aiming to segment unlabeled images given prior knowledge from a labeled set of base classes. The unlabeled images contain pixels of…
Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose…
We present a scene parsing method that utilizes global context information based on both the parametric and non- parametric models. Compared to previous methods that only exploit the local relationship between objects, we train a context…