相关论文: PACE: A Large-Scale Dataset with Pose Annotations …

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

We introduce XYZ-IBD, a bin-picking dataset for 6D pose estimation that captures real-world industrial complexity, including challenging object geometries, reflective materials, severe occlusions, and dense clutter. The dataset reflects…

Parameter-Efficient Fine-Tuning (PEFT) effectively adapts pre-trained transformers to downstream tasks. However, the optimization of tasks performance often comes at the cost of generalizability in fine-tuned models. To address this issue,…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

In this paper, we introduce a novel benchmark, dubbed VastTrack, towards facilitating the development of more general visual tracking via encompassing abundant classes and videos. VastTrack possesses several attractive properties: (1) Vast…

Multiple existing benchmarks involve tracking and segmenting objects in video e.g., Video Object Segmentation (VOS) and Multi-Object Tracking and Segmentation (MOTS), but there is little interaction between them due to the use of disparate…

In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

Recent developments in differentiable and neural rendering have made impressive breakthroughs in a variety of 2D and 3D tasks, e.g. novel view synthesis, 3D reconstruction. Typically, differentiable rendering relies on a dense viewpoint…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Current state-of-the-art Video Object Segmentation (VOS) methods rely on dense per-object mask annotations both during training and testing. This requires time-consuming and costly video annotation mechanisms. We propose a novel Point-VOS…

We present a review on the current state of publicly available datasets within the human action recognition community; highlighting the revival of pose based methods and recent progress of understanding person-person interaction modeling.…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

In this paper, we aim to improve the dataset foundation for pedestrian attribute recognition in real surveillance scenarios. Recognition of human attributes, such as gender, and clothes types, has great prospects in real applications.…

Standardized benchmarks are crucial for the majority of computer vision applications. Although leaderboards and ranking tables should not be over-claimed, benchmarks often provide the most objective measure of performance and are therefore…

Object 6DoF (6D) pose estimation is essential for robotic perception, especially in industrial settings. It enables robots to interact with the environment and manipulate objects. However, existing benchmarks on object 6D pose estimation…

Generalizable object fetching in cluttered scenes remains a fundamental and application-critical challenge in embodied AI. Closely packed objects cause inevitable occlusions, making safe action generation particularly difficult. Under such…

Large-scale datasets play a vital role in computer vision. But current datasets are annotated blindly without differentiation to samples, making the data collection inefficient and unscalable. The open question is how to build a mega-scale…

Animal pose estimation (APE) aims to locate the animal body parts using a diverse array of sensor and modality inputs (e.g. RGB cameras, LiDAR, infrared, IMU, acoustic and language cues), which is crucial for research across neuroscience,…

Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize both to known categories and beyond. To resolve this…