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We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…

We present the evaluation methodology, datasets and results of the BOP Challenge 2022, the fourth in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from an…

Current remote-sensing interpretation models often focus on a single task such as detection, segmentation, or caption. However, the task-specific designed models are unattainable to achieve the comprehensive multi-level interpretation of…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

In privacy-preserving mobile network transmission scenarios with heterogeneous client data, personalized federated learning methods that decouple feature extractors and classifiers have demonstrated notable advantages in enhancing learning…

Recent 6D pose estimation methods demonstrate notable performance but still face some practical limitations. For instance, many of them rely heavily on sensor depth, which may fail with challenging surface conditions, such as transparent or…

Applying traditional post-hoc attribution methods to segmentation or object detection predictors offers only limited insights, as the obtained feature attribution maps at input level typically resemble the models' predicted segmentation…

Existing co-salient object detection (CoSOD) methods generally employ a three-stage architecture (i.e., encoding, consensus extraction & dispersion, and prediction) along with a typical full fine-tuning paradigm. Although they yield certain…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, complex search space and 2) failing to incorporate intrinsic…

6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

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,…

Dense visual perception tasks have been constrained by their reliance on predefined categories, limiting their applicability in real-world scenarios where visual concepts are unbounded. While Vision-Language Models (VLMs) like CLIP have…

Gaze object prediction (GOP) aims to predict the category and location of the object that a human is looking at. Previous methods utilized box-level supervision to identify the object that a person is looking at, but struggled with semantic…

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

Visual grounding has attracted wide attention thanks to its broad application in various visual language tasks. Although visual grounding has made significant research progress, existing methods ignore the promotion effect of the…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

This paper proposes a knowledge distillation method for foreground object search (FoS). Given a background and a rectangle specifying the foreground location and scale, FoS retrieves compatible foregrounds in a certain category for later…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…