相关论文: ObPose: Leveraging Pose for Object-Centric Scene I…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

Pose transfer refers to the probabilistic image generation of a person with a previously unseen novel pose from another image of that person having a different pose. Due to potential academic and commercial applications, this problem is…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

We study the problem of learning to estimate the 3D object pose from a few labelled examples and a collection of unlabelled data. Our main contribution is a learning framework, neural view synthesis and matching, that can transfer the 3D…

In this paper, we tackle the copy-paste image-to-image composition problem with a focus on object placement learning. Prior methods have leveraged generative models to reduce the reliance for dense supervision. However, this often limits…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Object pose estimation, which plays a vital role in robotics, augmented reality, and autonomous driving, has been of great interest in computer vision. Existing studies either require multi-stage pose regression or rely on 2D-3D feature…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

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 threefold.…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Recurrent feedback connections in the mammalian visual system have been hypothesized to play a role in synthesizing input in the theoretical framework of analysis by synthesis. The comparison of internally synthesized representation with…

Object pose estimation is a fundamental problem in computer vision and plays a critical role in virtual reality and embodied intelligence, where agents must understand and interact with objects in 3D space. Recently, score based generative…

Advances in unsupervised learning of object-representations have culminated in the development of a broad range of methods for unsupervised object segmentation and interpretable object-centric scene generation. These methods, however, are…

Monocular 3D human pose estimation remains a challenging task due to inherent depth ambiguities and occlusions. Compared to traditional methods based on Transformers or Convolutional Neural Networks (CNNs), recent diffusion-based approaches…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…