Related papers: Zero-shot Inexact CAD Model Alignment from a Singl…
Few-shot image classification aims at training a model from only a few examples for each of the "novel" classes. This paper proposes the idea of associative alignment for leveraging part of the base data by aligning the novel training…
Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…
Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…
In this paper, we introduce a novel unsupervised domain adaptation technique for the task of 3D keypoint prediction from a single depth scan or image. Our key idea is to utilize the fact that predictions from different views of the same or…
Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose…
This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…
Perceiving 3D structures from RGB images based on CAD model primitives can enable an effective, efficient 3D object-based representation of scenes. However, current approaches rely on supervision from expensive annotations of CAD models…
Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…
Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…
3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…
Modern deep learning-based 3D pose estimation approaches require plenty of 3D pose annotations. However, existing 3D datasets lack diversity, which limits the performance of current methods and their generalization ability. Although…
Modern 3D human pose estimation techniques rely on deep networks, which require large amounts of training data. While weakly-supervised methods require less supervision, by utilizing 2D poses or multi-view imagery without annotations, they…
Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…
Estimating the 6D pose of novel objects is a fundamental yet challenging problem in robotics, often relying on access to object CAD models. However, acquiring such models can be costly and impractical. Recent approaches aim to bypass this…
While object reconstruction has made great strides in recent years, current methods typically require densely captured images and/or known camera poses, and generalize poorly to novel object categories. To step toward object reconstruction…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…
Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…
6D object pose estimation for unseen objects is essential in robotics but traditionally relies on trained models that require large datasets, high computational costs, and struggle to generalize. Zero-shot approaches eliminate the need for…
In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…