Related papers: RFM-Pose:Reinforcement-Guided Flow Matching for Fa…

Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

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…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

Although methods for estimating the pose of objects in indoor scenes have achieved great success, the pose estimation of underwater objects remains challenging due to difficulties brought by the complex underwater environment, such as…

Estimating 6D poses and reconstructing 3D shapes of objects in open-world scenes from RGB-depth image pairs is challenging. Many existing methods rely on learning geometric features that correspond to specific templates while disregarding…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Denoising Diffusion Probabilistic Models (DDPMs) have established a new state-of-the-art in generative image synthesis, yet their deployment is hindered by significant computational overhead during inference, often requiring up to 1,000…

Existing human pose estimation approaches often only consider how to improve the model generalisation performance, but putting aside the significant efficiency problem. This leads to the development of heavy models with poor scalability and…

Large-scale flow matching models have achieved strong performance across generative tasks such as text-to-image, video, 3D, and speech synthesis. However, aligning their outputs with human preferences and task-specific objectives remains…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

We propose DeFloMat (Detection with Flow Matching), a novel generative object detection framework that addresses the critical latency bottleneck of diffusion-based detectors, such as DiffusionDet, by integrating Conditional Flow Matching…

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…

Diffusion models have achieved significant progress in both image and video generation while still suffering from huge computation costs. As an effective solution, flow matching aims to reflow the diffusion process of diffusion models into…

Pose-Guided Person Image Synthesis (PGPIS) generates realistic person images conditioned on a target pose and a source image. This task plays a key role in various real-world applications, such as sign language video generation, AR/VR,…

Reward-based fine-tuning steers a pretrained diffusion or flow-based generative model toward higher-reward samples while remaining close to the pretrained model. Although existing methods are derived from different perspectives, we show…

Conditional flow matching (CFM) stands out as an efficient, simulation-free approach for training flow-based generative models, achieving remarkable performance for data generation. However, CFM is insufficient to ensure accuracy in…