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Many representation systems on the sphere have been proposed in the past, such as spherical harmonics, wavelets, or curvelets. Each of these data representations is designed to extract a specific set of features, and choosing the best fixed…

Establishing semantic correspondence across images when the objects in the images have undergone complex deformations remains a challenging task in the field of computer vision. In this paper, we propose a hierarchical method to tackle this…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Shape inference is classically ill-posed, because it involves a map from the (2D) image domain to the (3D) world. Standard approaches regularize this problem by either assuming a prior on lighting and rendering or restricting the domain,…

It is difficult to precisely annotate object instances and their semantics in 3D space, and as such, synthetic data are extensively used for these tasks, e.g., category-level 6D object pose and size estimation. However, the easy annotations…

Correspondence-based shape models are key to various medical imaging applications that rely on a statistical analysis of anatomies. Such shape models are expected to represent consistent anatomical features across the population for…

In this work, we present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image. While many existing data-driven methods achieve impressive performance, they tend to be time-consuming due to their…

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

The shape of objects is an important source of visual information in a wide range of applications. One of the core challenges of shape quantification is to ensure that the extracted measurements remain invariant to transformations that…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Detecting object-level changes between two images across possibly different views is a core task in many applications that involve visual inspection or camera surveillance. Existing change-detection approaches suffer from three major…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

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…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific…