Related papers: Finding NeMO: A Geometry-Aware Representation of T…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

4D modeling of human-object interactions is critical for numerous applications. However, efficient volumetric capture and rendering of complex interaction scenarios, especially from sparse inputs, remain challenging. In this paper, we…

Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and…

Low-shot object counters estimate the number of objects in an image using few or no annotated exemplars. Objects are localized by matching them to prototypes, which are constructed by unsupervised image-wide object appearance aggregation.…

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…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…

We propose NEMTO, the first end-to-end neural rendering pipeline to model 3D transparent objects with complex geometry and unknown indices of refraction. Commonly used appearance modeling such as the Disney BSDF model cannot accurately…

Neural fields provide a continuous scene representation of 3D geometry and appearance in a way which has great promise for robotics applications. One functionality that unlocks unique use-cases for neural fields in robotics is object 6-DoF…

In this paper, we address the challenge of generating novel views of real-world objects with limited multi-view images through our proposed approach, FewShotNeRF. Our method utilizes meta-learning to acquire optimal initialization,…

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…

Few-shot learning that trains image classifiers over few labeled examples per category is a challenging task. In this paper, we propose to exploit an additional big dataset with different categories to improve the accuracy of few-shot…

We present a new approach to 3D object representation where a neural network encodes the geometry of an object directly into the weights and biases of a second 'mapping' network. This mapping network can be used to reconstruct an object by…

We present a novel approach to detect, segment, and reconstruct complete textured 3D models of vehicles from a single image for autonomous driving. Our approach combines the strengths of deep learning and the elegance of traditional…

Neural Radiance Fields (NeRF) has achieved impressive results in single object scene reconstruction and novel view synthesis, which have been demonstrated on many single modality and single object focused indoor scene datasets like DTU,…

Feature point detection and description is the backbone for various computer vision applications, such as Structure-from-Motion, visual SLAM, and visual place recognition. While learning-based methods have surpassed traditional handcrafted…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

We present neural radiance fields (NeRF) with templates, dubbed Template-NeRF, for modeling appearance and geometry and generating dense shape correspondences simultaneously among objects of the same category from only multi-view posed…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…