Related papers: GIVEPose: Gradual Intra-class Variation Eliminatio…

Instance Segmentation, which seeks to obtain both class and instance labels for each pixel in the input image, is a challenging task in computer vision. State-of-the-art algorithms often employ two separate stages, the first one generating…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

While deep learning has led to huge progress in complex image classification tasks like ImageNet, unexpected failure modes, e.g. via spurious features, call into question how reliably these classifiers work in the wild. Furthermore, for…

6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

In recent years, the node classification task in graph neural networks(GNNs) has developed rapidly, driving the development of research in various fields. However, there are a large number of class imbalances in the graph data, and there is…

Gaze object prediction (GOP) aims to predict the category and location of the object that a human is looking at. Previous methods utilized box-level supervision to identify the object that a person is looking at, but struggled with semantic…

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…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Class imbalance, where certain classes have insufficient data, poses a critical challenge for robust classification, often biasing models toward majority classes. Distribution calibration offers a promising avenue to address this by…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Over recent decades, significant advancements in cross-modal retrieval are mainly driven by breakthroughs in visual and linguistic modeling. However, a recent study shows that multi-modal data representations tend to cluster within a…

Coreset selection aims to identify a small yet highly informative subset of data, thereby enabling more efficient model training while reducing storage overhead. Recently, this capability has been leveraged to tackle the challenges of…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

Fine-tuning approaches for Vision-Language Models (VLMs) face a critical three-way trade-off between In-Distribution (ID) accuracy, Out-of-Distribution (OOD) generalization, and adversarial robustness. Existing robust fine-tuning strategies…

This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Intrinsic image decomposition aims to estimate physically based rendering (PBR) parameters such as albedo, roughness, and metallicity from images. While recent methods achieve strong single-view predictions, applying them independently to…

Continual Generalized Category Discovery (C-GCD) faces a critical challenge: incrementally learning new classes from unlabeled data streams while preserving knowledge of old classes. Existing methods struggle with catastrophic forgetting,…