相关论文: RankPose: Learning Generalised Feature with Rank S…

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…

Unsupervised sentence representation learning is one of the fundamental problems in natural language processing with various downstream applications. Recently, contrastive learning has been widely adopted which derives high-quality sentence…

The success of Reinforcement Learning (RL) heavily relies on the ability to learn robust representations from the observations of the environment. In most cases, the representations learned purely by the reinforcement learning loss can…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

The discriminability of feature representation is the key to open-set face recognition. Previous methods rely on the learnable weights of the classification layer that represent the identities. However, the evaluation process learns no…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Human pose forecasting predicts future poses based on past observations, and has many significant applications in areas such as action recognition, autonomous driving or human-robot interaction. This paper evaluates a wide range of pose…

While pose estimation is an important computer vision task, it requires expensive annotation and suffers from domain shift. In this paper, we investigate the problem of domain adaptive 2D pose estimation that transfers knowledge learned on…

Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Due to the inherent imbalance in real-world datasets, na\"ive Empirical Risk Minimization (ERM) tends to bias the learning process towards the majority classes, hindering generalization to minority classes. To rebalance the learning…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

Neural ranking models (NRMs) have demonstrated effective performance in several information retrieval (IR) tasks. However, training NRMs often requires large-scale training data, which is difficult and expensive to obtain. To address this…

The last decade has seen a revolution in the theory and application of machine learning and pattern recognition. Through these advancements, variable ranking has emerged as an active and growing research area and it is now beginning to be…

There is extensive interest in metric learning methods for image retrieval. Many metric learning loss functions focus on learning a correct ranking of training samples, but strongly overfit semantically inconsistent labels and require a…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Image retrieval can be formulated as a ranking problem where the goal is to order database images by decreasing similarity to the query. Recent deep models for image retrieval have outperformed traditional methods by leveraging…

Recently, multi-resolution networks (such as Hourglass, CPN, HRNet, etc.) have achieved significant performance on pose estimation by combining feature maps of various resolutions. In this paper, we propose a Resolution-wise Attention…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…