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

Cooperative perception for connected and automated vehicles is traditionally achieved through the fusion of feature maps from two or more vehicles. However, the absence of feature maps shared from other vehicles can lead to a significant…

Achieving human-level dexterity in robots is a key objective in the field of robotic manipulation. Recent advancements in 3D-based imitation learning have shown promising results, providing an effective pathway to achieve this goal.…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We introduce SPARse Fine-grained Contrastive Alignment (SPARC), a simple method for pretraining more fine-grained multimodal representations from image-text pairs. Given that multiple image patches often correspond to single words, we…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

We consider the problem of estimating object pose and shape from an RGB-D image. Our first contribution is to introduce CRISP, a category-agnostic object pose and shape estimation pipeline. The pipeline implements an encoder-decoder model…

Unsupervised contrastive learning achieves great success in learning image representations with CNN. Unlike most recent methods that focused on improving accuracy of image classification, we present a novel contrastive learning approach,…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

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 propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

Multimodal large language models suffer from severe computational and memory bottlenecks, as the number of visual tokens far exceeds that of textual tokens. While recent methods employ projector modules to align and compress visual tokens…

Remote sensing image-text retrieval plays a crucial role in remote sensing interpretation, yet remains challenging under both closed-domain and open-domain scenarios due to semantic noise and domain shifts. To address these issues, we…

Most of existing category-level object pose estimation methods devote to learning the object category information from point cloud modality. However, the scale of 3D datasets is limited due to the high cost of 3D data collection and…

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…