相关论文: OV9D: Open-Vocabulary Category-Level 9D Object Pos…

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

We consider the problem of enriching current object detection systems with veridical object sizes and relative depth estimates from a single image. There are several technical challenges to this, such as occlusions, lack of calibration data…

Open-vocabulary object detection (OVOD) has recently gained significant attention as a crucial step toward achieving human-like visual intelligence. Existing OVOD methods extend target vocabulary from pre-defined categories to open-world by…

The advancement of object detection (OD) in open-vocabulary and open-world scenarios is a critical challenge in computer vision. This work introduces OmDet, a novel language-aware object detection architecture, and an innovative training…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

Estimating 6D object poses is a major challenge in 3D computer vision. Building on successful instance-level approaches, research is shifting towards category-level pose estimation for practical applications. Current category-level…

Estimating the 6D pose and 3D size of an object from an image is a fundamental task in computer vision. Most current approaches are restricted to specific instances with known models or require ground truth depth information or point cloud…

Recent advancements in 3D object detection and novel category detection have made significant progress, yet research on learning generalized 3D objectness remains insufficient. In this paper, we delve into learning open-world 3D objectness,…

We introduce Any6D, a model-free framework for 6D object pose estimation that requires only a single RGB-D anchor image to estimate both the 6D pose and size of unknown objects in novel scenes. Unlike existing methods that rely on textured…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

Out-of-distribution (OOD) object detection is a critical task focused on detecting objects that originate from a data distribution different from that of the training data. In this study, we investigate to what extent state-of-the-art…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Object manipulation is a critical skill required for Embodied AI agents interacting with the world around them. Training agents to manipulate objects, poses many challenges. These include occlusion of the target object by the agent's arm,…

Category-level 6D pose estimation, aiming to predict the location and orientation of unseen object instances, is fundamental to many scenarios such as robotic manipulation and augmented reality, yet still remains unsolved. Precisely…

Video anomaly detection (VAD) with weak supervision has achieved remarkable performance in utilizing video-level labels to discriminate whether a video frame is normal or abnormal. However, current approaches are inherently limited to a…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…