Related papers: PAOLI: Pose-free Articulated Object Learning from …

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…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

Taking an image of an object is at its core a lossy process. The rich information about the three-dimensional structure of the world is flattened to an image plane and decisions such as viewpoint and camera parameters are final and not…

Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…

Reconstructing 3D shape and pose of static objects from a single image is an essential task for various industries, including robotics, augmented reality, and digital content creation. This can be done by directly predicting 3D shape in…

This paper presents RoGSplat, a novel approach for synthesizing high-fidelity novel views of unseen human from sparse multi-view images, while requiring no cumbersome per-subject optimization. Unlike previous methods that typically struggle…

Sparse-view 3D reconstruction is essential for applications in which dense image acquisition is impractical, such as robotics, augmented/virtual reality (AR/VR), and autonomous systems. In these settings, minimal image overlap prevents…

Articulated objects are ubiquitous and important in robotics, AR/VR, and digital twins. Most self-supervised methods for articulated object modeling reconstruct discrete interaction states and relate them via cross-state geometric…

Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

Learning deformable 3D objects from 2D images is often an ill-posed problem. Existing methods rely on explicit supervision to establish multi-view correspondences, such as template shape models and keypoint annotations, which restricts…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

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,…

As 3D human pose estimation can now be achieved with very high accuracy in the supervised learning scenario, tackling the case where 3D pose annotations are not available has received increasing attention. In particular, several methods…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

A Bayesian framework for 3D human pose estimation from monocular images based on sparse representation (SR) is introduced. Our probabilistic approach aims at simultaneously learning two overcomplete dictionaries (one for the visual input…