相关论文: AnyOKP: One-Shot and Instance-Aware Object Keypoin…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

Methods for object detection and segmentation rely on large scale instance-level annotations for training, which are difficult and time-consuming to collect. Efforts to alleviate this look at varying degrees and quality of supervision.…

Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…

In this paper, we propose a new approach for keypoint-based object detection. Traditional keypoint-based methods consist in classifying individual points and using pose estimation to discard misclassifications. Since a single point carries…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

All instance perception tasks aim at finding certain objects specified by some queries such as category names, language expressions, and target annotations, but this complete field has been split into multiple independent subtasks. In this…

Image segmentation remains a challenging task in computer vision, demanding robust mask generation and precise classification. Recent mask-based approaches yield high-quality masks by capturing global context. However, accurately…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Pre-trained vision-language models, e.g., CLIP, working with manually designed prompts have demonstrated great capacity of transfer learning. Recently, learnable prompts achieve state-of-the-art performance, which however are prone to…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

We propose a decentralised view-overlap recognition framework that operates across freely moving cameras without the need of a reference 3D map. Each camera independently extracts, aggregates into a hierarchical structure, and shares…

In this paper, we present a novel approach for object recognition in real-time by employing multilevel feature analysis and demonstrate the practicality of adapting feature extraction into a Naive Bayesian classification framework that…

Vision-Language Pre-training (VLP) models like CLIP have achieved remarkable success in computer vision and particularly demonstrated superior robustness to distribution shifts of 2D images. However, their robustness under 3D viewpoint…

In this paper, we show the surprisingly good properties of plain vision transformers for body pose estimation from various aspects, namely simplicity in model structure, scalability in model size, flexibility in training paradigm, and…

Much of the focus in the object detection literature has been on the problem of identifying the bounding box of a particular class of object in an image. Yet, in contexts such as robotics and augmented reality, it is often necessary to find…

The task of unsupervised motion retargeting in videos has seen substantial advancements through the use of deep neural networks. While early works concentrated on specific object priors such as a human face or body, recent work considered…

Vision Transformers (ViTs) have achieved remarkable success in computer vision tasks. However, their potential in rotation-sensitive scenarios has not been fully explored, and this limitation may be inherently attributed to the lack of…

Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…