相关论文: GenFlow: Generalizable Recurrent Flow for 6D Pose …

In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time,…

Flow Matching has emerged as a powerful framework for learning continuous transformations between distributions, enabling high-fidelity generative modeling. This work introduces Symmetrical Flow Matching (SymmFlow), a new formulation that…

Motion transfer from the driving to the source portrait remains a key challenge in the portrait animation. Current diffusion-based approaches condition only on the driving motion, which fails to capture source-to-driving correspondences and…

Prevailing 2D-centric visuomotor policies exhibit a pronounced deficiency in novel view generalization, as their reliance on static observations hinders consistent action mapping across unseen views. In response, we introduce GenSplat, a…

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…

We propose a principled and effective framework for one-step generative modeling. We introduce the notion of average velocity to characterize flow fields, in contrast to instantaneous velocity modeled by Flow Matching methods. A…

Dynamic scene understanding is one of the most conspicuous field of interest among computer vision community. In order to enhance dynamic scene understanding, pixel-wise segmentation with neural networks is widely accepted. The latest…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

Generative flow models offer powerful priors learned from large-scale natural images, but directly adapting them to restoration tasks such as motion deblurring causes severe fidelity degradation, as their training objective is inherently…

Existing optical flow methods are erroneous in challenging scenes, such as fog, rain, and night because the basic optical flow assumptions such as brightness and gradient constancy are broken. To address this problem, we present an…

Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

We introduce ContinualFlow, a principled framework for targeted unlearning in generative models via Flow Matching. Our method leverages an energy-based reweighting loss to softly subtract undesired regions of the data distribution without…

Optical flow is a fundamental technique for motion estimation, widely applied in video stabilization, interpolation, and object tracking. Traditional optical flow estimation methods rely on restrictive assumptions like brightness constancy…

We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

Flow matching has emerged as a promising generative approach that addresses the lengthy sampling times associated with state-of-the-art diffusion models and enables a more flexible trajectory design, while maintaining high-quality image…

Scene flow estimation, which aims to predict per-point 3D displacements of dynamic scenes, is a fundamental task in the computer vision field. However, previous works commonly suffer from unreliable correlation caused by locally constrained…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…