Related papers: RayPose: Ray Bundling Diffusion for Template Views…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

Despite the great success of large-scale text-to-image diffusion models in image generation and image editing, existing methods still struggle to edit the layout of real images. Although a few works have been proposed to tackle this…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges…

We address the problem of multi-object 3D pose control in image diffusion models. Instead of conditioning on a sequence of text tokens, we propose to use a set of per-object representations, Neural Assets, to control the 3D pose of…

3D motion tracking is a critical task in many computer vision applications. Unsupervised markerless 3D motion tracking systems determine the most relevant object in the screen and then track it by continuously estimating its projection…

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization…

This work addresses image restoration tasks through the lens of inverse problems using unpaired datasets. In contrast to traditional approaches -- which typically assume full knowledge of the forward model or access to paired degraded and…

We propose BAPose, a novel bottom-up approach that achieves state-of-the-art results for multi-person pose estimation. Our end-to-end trainable framework leverages a disentangled multi-scale waterfall architecture and incorporates adaptive…

Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…

The problem of text-guided image generation is a complex task in Computer Vision, with various applications, including creating visually appealing artwork and realistic product images. One popular solution widely used for this task is the…

Image retouching aims to enhance the visual quality of photos. Considering the different aesthetic preferences of users, the target of retouching is subjective. However, current retouching methods mostly adopt deterministic models, which…

Denoising diffusion models have emerged as a dominant approach for image generation, however they still suffer from slow convergence in training and color shift issues in sampling. In this paper, we identify that these obstacles can be…