相关论文: Sim2Real Object-Centric Keypoint Detection and Des…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

Class-agnostic image segmentation is a crucial component in automating image editing workflows, especially in contexts where object selection traditionally involves interactive tools. Existing methods in the literature often adhere to…

Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

Object detection models perform well at localizing and classifying objects that they are shown during training. However, due to the difficulty and cost associated with creating and annotating detection datasets, trained models detect a…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…

Keypoint detection is a pivotal step in 3D reconstruction, whereby sets of (up to) K points are detected in each view of a scene. Crucially, the detected points need to be consistent between views, i.e., correspond to the same 3D point in…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

The advances in unsupervised object-centric representation learning have significantly improved its application to downstream tasks. Recent works highlight that disentangled object representations can aid policy learning in image-based,…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

To alleviate the cost of obtaining accurate bounding boxes for training today's state-of-the-art object detection models, recent weakly supervised detection work has proposed techniques to learn from image-level labels. However, requiring…

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize…

Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Some methods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution for a particular case study on…

Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

Object-context shortcuts remain a persistent challenge in vision-language models, undermining zero-shot reliability when test-time scenes differ from familiar training co-occurrences. We recast this issue as a causal inference problem and…

In recent years, semi-supervised learning has been widely explored and shows excellent data efficiency for 2D data. There is an emerging need to improve data efficiency for 3D tasks due to the scarcity of labeled 3D data. This paper…