相关论文: ClearPose: Large-scale Transparent Object Dataset …

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

Shadow detection in general photos is a nontrivial problem, due to the complexity of the real world. Though recent shadow detectors have already achieved remarkable performance on various benchmark data, their performance is still limited…

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…

Deepfakes, synthetic media created using advanced AI techniques, pose a growing threat to information integrity, particularly in politically sensitive contexts. This challenge is amplified by the increasing realism of modern generative…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that…

Referring Multi-Object Tracking (RMOT) aims to track specific targets based on language descriptions and is vital for interactive AI systems such as robotics and autonomous driving. However, existing RMOT models rely solely on 2D RGB data,…

In recent years, the field of visual tracking has made significant progress with the application of large-scale training datasets. These datasets have supported the development of sophisticated algorithms, enhancing the accuracy and…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…

Estimating the 6D pose and size of household containers is challenging due to large intra-class variations in the object properties, such as shape, size, appearance, and transparency. The task is made more difficult when these objects are…

Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipulation and clearing clutter. Such models, however, are…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

Existing 6D pose estimation datasets primarily focus on small household objects typically handled by robot arm manipulators, limiting their relevance to mobile robotics. Mobile platforms often operate without manipulators, interact with…

Estimating the 6D pose of novel objects is a fundamental yet challenging problem in robotics, often relying on access to object CAD models. However, acquiring such models can be costly and impractical. Recent approaches aim to bypass this…

Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…

We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a…

This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…

RGB-based novel object pose estimation is critical for rapid deployment in robotic applications, yet zero-shot generalization remains a key challenge. In this paper, we introduce PicoPose, a novel framework designed to tackle this task…