相关论文: Object Pose Estimation via the Aggregation of Diff…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

The recent wave of large-scale text-to-image diffusion models has dramatically increased our text-based image generation abilities. These models can generate realistic images for a staggering variety of prompts and exhibit impressive…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Diffusion models have found valuable applications in anomaly detection by capturing the nominal data distribution and identifying anomalies via reconstruction. Despite their merits, they struggle to localize anomalies of varying scales,…

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…

Diffusion models have impressive image generation capability, but low-quality generations still exist, and their identification remains challenging due to the lack of a proper sample-wise metric. To address this, we propose BayesDiff, a…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Thanks to the development of 2D keypoint detectors, monocular 3D human pose estimation (HPE) via 2D-to-3D uplifting approaches have achieved remarkable improvements. Still, monocular 3D HPE is a challenging problem due to the inherent depth…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…

One of the mainstream schemes for 2D human pose estimation (HPE) is learning keypoints heatmaps by a neural network. Existing methods typically improve the quality of heatmaps by customized architectures, such as high-resolution…

Robust in-bed human pose estimation under blanket occlusion remains challenging due to the scarcity of reliable labeled training data for heavily covered poses. Existing approaches rely on multi-modal sensing or image-to-image translation…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Visual imitation learning methods demonstrate strong performance, yet they lack generalization when faced with visual input perturbations, including variations in lighting and textures, impeding their real-world application. We propose…

Diffusion models are a class of generative models that serve to establish a stochastic transport map between an empirically observed, yet unknown, target distribution and a known prior. Despite their remarkable success in real-world…

Unsupervised visual object tracking is a challenging task that requires following arbitrary targets in videos without training on ground-truth annotations. Despite considerable progress, existing state-of-the-art unsupervised trackers often…

Image-based object pose estimation sounds amazing because in real applications the shape of object is oftentimes not available or not easy to take like photos. Although it is an advantage to some extent, un-explored shape information in 3D…