相关论文: Learning a Category-level Object Pose Estimator wi…

Inferring object 3D position and orientation from a single RGB camera is a foundational task in computer vision with many important applications. Traditionally, 3D object detection methods are trained in a fully-supervised setup, requiring…

3D pose estimation from a single image is a challenging task in computer vision. We present a weakly supervised approach to estimate 3D pose points, given only 2D pose landmarks. Our method does not require correspondences between 2D and 3D…

After learning a new object category from image-level annotations (with no object bounding boxes), humans are remarkably good at precisely localizing those objects. However, building good object localizers (i.e., detectors) currently…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

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…

In this work, we address the problem of few-shot multi-class object counting with point-level annotations. The proposed technique leverages a class agnostic attention mechanism that sequentially attends to objects in the image and extracts…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…

Existing 3D pose datasets of object categories are limited to generic object types and lack of fine-grained information. In this work, we introduce a new large-scale dataset that consists of 409 fine-grained categories and 31,881 images…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

We address the task of predicting pose for objects of unannotated object categories from a small seed set of annotated object classes. We present a generalized classifier that can reliably induce pose given a single instance of a novel…

3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…

In this paper, we categorize fine-grained images without using any object / part annotation neither in the training nor in the testing stage, a step towards making it suitable for deployments. Fine-grained image categorization aims to…

Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…