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The regression of 3D Human Pose and Shape (HPS) from an image is becoming increasingly accurate. This makes the results useful for downstream tasks like human action recognition or 3D graphics. Yet, no regressor is perfect, and accuracy can…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

Pose prediction is to predict future poses given a window of previous poses. In this paper, we propose a new problem that predicts poses using 3D joint coordinate sequences. Different from the traditional pose prediction based on Mocap…

UV map estimation is used in computer vision for detailed analysis of human posture or activity. Previous methods assign pixels to body model vertices by comparing pixel descriptors independently, without enforcing global coherence or…

We explore 3D human pose estimation from a single RGB image. While many approaches try to directly predict 3D pose from image measurements, we explore a simple architecture that reasons through intermediate 2D pose predictions. Our approach…

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…

Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…

Pseudo-LiDAR based 3D object detectors have gained popularity due to their high accuracy. However, these methods need dense depth supervision and suffer from inferior speed. To solve these two issues, a recently introduced RTS3D builds an…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

Category-level object pose estimation aims to predict the 6D pose and 3D size of objects within given categories. Existing approaches for this task rely solely on 6D poses as supervisory signals without explicitly capturing the intrinsic…

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…

Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…

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…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Locating 3D objects from a single RGB image via Perspective-n-Point (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, allowing for…

RGB-based novel object pose estimation is critical for rapid deployment in robotic applications, yet zero-shot generalization remains a key challenge. In this paper, we introduce PicoPose, a novel framework designed to tackle this task…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…

Detecting 3D objects accurately from multi-view 2D images is a challenging yet essential task in the field of autonomous driving. Current methods resort to integrating depth prediction to recover the spatial information for object query…