相关论文: Image to Icosahedral Projection for $\mathrm{SO}(3…

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.…

This paper studies visual search using structured queries. The structure is in the form of a 2D composition that encodes the position and the category of the objects. The transformation of the position and the category of the objects leads…

Inferring 3D structure of a generic object from a 2D image is a long-standing objective of computer vision. Conventional approaches either learn completely from CAD-generated synthetic data, which have difficulty in inference from real…

360{\deg} spherical images have advantages of wide view field, and are typically projected on a planar plane for processing, which is known as equirectangular image. The object shape in equirectangular images can be distorted and lack…

A recent method employs 3D voxels to represent 3D shapes, but this limits the approach to low resolutions due to the computational cost caused by the cubic complexity of 3D voxels. Hence the method suffers from a lack of detailed geometry.…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…

Change in viewpoint is one of the major factors for variation in object appearance across different images. Thus, view-invariant object recognition is a challenging and important image understanding task. In this paper, we propose a method…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…

In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

We characterize the class of image plane transformations which realize rigid camera motions and call these transformations `rigidity preserving'. In particular, 2D translations of pinhole images are not rigidity preserving. Hence, when…

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…

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…

Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…

We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…

Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…

Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…

This work introduces E3x, a software package for building neural networks that are equivariant with respect to the Euclidean group $\mathrm{E}(3)$, consisting of translations, rotations, and reflections of three-dimensional space. Compared…