相关论文: Predicting Out-of-View Feature Points for Model-Ba…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

In this paper, we present a novel approach for object recognition in real-time by employing multilevel feature analysis and demonstrate the practicality of adapting feature extraction into a Naive Bayesian classification framework that…

A major challenge in machine learning is resilience to out-of-distribution data, that is data that exists outside of the distribution of a model's training data. Training is often performed using limited, carefully curated datasets and so…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

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 a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

This paper presents an edge-based defocus blur estimation method from a single defocused image. We first distinguish edges that lie at depth discontinuities (called depth edges, for which the blur estimate is ambiguous) from edges that lie…

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

Trajectory prediction is a fundamental problem in computer vision, vision-language-action models, world models, and autonomous systems, with broad impact on autonomous driving, robotics, and surveillance. However, most existing methods…

In many control problems that include vision, optimal controls can be inferred from the location of the objects in the scene. This information can be represented using feature points, which is a list of spatial locations in learned feature…

We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Out-of-distribution (OOD) detection has emerged as a popular technique to enhance the reliability of machine learning models by identifying unexpected inputs from unknown classes. Recent progress in pre-trained vision-language models (VLMs)…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Trajectory prediction is fundamental in computer vision and autonomous driving, particularly for understanding pedestrian behavior and enabling proactive decision-making. Existing approaches in this field often assume precise and complete…

Searching for small objects in large images is a task that is both challenging for current deep learning systems and important in numerous real-world applications, such as remote sensing and medical imaging. Thorough scanning of very large…

Understanding objects in terms of their individual parts is important, because it enables a precise understanding of the objects' geometrical structure, and enhances object recognition when the object is seen in a novel pose or under…