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While Convolutional Neural Networks (CNNs) have been widely successful in 2D human pose estimation, Vision Transformers (ViTs) have emerged as a promising alternative to CNNs, boosting state-of-the-art performance. However, the quadratic…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Human perception of surroundings is often guided by the various poses present within the environment. Many computer vision tasks, such as human action recognition and robot imitation learning, rely on pose-based entities like human…

Recently, plain vision Transformers (ViTs) have shown impressive performance on various computer vision tasks, thanks to their strong modeling capacity and large-scale pretraining. However, they have not yet conquered the problem of image…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…

This work investigates a simple yet powerful dense prediction task adapter for Vision Transformer (ViT). Unlike recently advanced variants that incorporate vision-specific inductive biases into their architectures, the plain ViT suffers…

Transformers with powerful global relation modeling abilities have been introduced to fundamental computer vision tasks recently. As a typical example, the Vision Transformer (ViT) directly applies a pure transformer architecture on image…

The Vision Transformer (ViT) architecture has become widely recognized in computer vision, leveraging its self-attention mechanism to achieve remarkable success across various tasks. Despite its strengths, ViT's optimization remains…

Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs) have led to significant progress in 2D body pose estimation. However, achieving a good balance between accuracy, efficiency, and robustness remains a challenge. For…

Vision transformers (ViTs) that model an image as a sequence of partitioned patches have shown notable performance in diverse vision tasks. Because partitioning patches eliminates the image structure, to reflect the order of patches, ViTs…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

Vision Transformer(ViT) is one of the most widely used models in the computer vision field with its great performance on various tasks. In order to fully utilize the ViT-based architecture in various applications, proper visualization…

Existing computer vision research in categorization struggles with fine-grained attributes recognition due to the inherently high intra-class variances and low inter-class variances. SOTA methods tackle this challenge by locating the most…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…