Related papers: Learning Fine-Grained Correspondence with Cross-Pe…

Establishing visual correspondence across images is a challenging and essential task. Recently, an influx of self-supervised methods have been proposed to better learn representations for visual correspondence. However, we find that these…

Referring Expression Comprehension (REC) is a crucial cross-modal task that objectively evaluates the capabilities of language understanding, image comprehension, and language-to-image grounding. Consequently, it serves as an ideal testing…

Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…

Nowadays, most methods in end-to-end contextual speech recognition bias the recognition process towards contextual knowledge. Since all-neural contextual biasing methods rely on phrase-level contextual modeling and attention-based relevance…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

We propose a novel fine-grained cross-view localization method that estimates the 3 Degrees of Freedom pose of a ground-level image in an aerial image of the surroundings by matching fine-grained features between the two images. The pose is…

Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…

Few-shot, fine-grained classification in computer vision poses significant challenges due to the need to differentiate subtle class distinctions with limited data. This paper presents a novel method that enhances the Contrastive…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We propose a method for estimating the 6DoF pose of a rigid object with an available 3D model from a single RGB image. Unlike classical correspondence-based methods which predict 3D object coordinates at pixels of the input image, the…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

In recent years, estimating the 6D pose of object instances with convolutional neural network (CNN) has received considerable attention. Depending on whether intermediate cues are used, the relevant literature can be roughly divided into…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

Locating 3D objects from a single RGB image via Perspective-n-Points (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, so that 2D-3D…

Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities of the large language models (LLMs) to establish mappings…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Viewpoint missing of objects is common in scene reconstruction, as camera paths typically prioritize capturing the overall scene structure rather than individual objects. This makes it highly challenging to achieve high-fidelity…

Contrastive image-text models such as CLIP form the building blocks of many state-of-the-art systems. While they excel at recognizing common generic concepts, they still struggle on fine-grained entities which are rare, or even absent from…

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…