相关论文: High-resolution open-vocabulary object 6D pose est…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

Vision language models (VLMs) are AI systems paired with both language and vision encoders to process multimodal input. They are capable of performing complex semantic tasks such as automatic captioning, but it remains an open question…

Large Vision-Language Models (LVLMs) have achieved significant progress in tasks like visual question answering and document understanding. However, their potential to comprehend embodied environments and navigate within them remains…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Vision-language models (VLMs) have demonstrated impressive zero-shot transfer capabilities in image-level visual perception tasks. However, they fall short in 3D instance-level segmentation tasks that require accurate localization and…

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…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Inspired by the success of vision-language methods (VLMs) in zero-shot classification, recent works attempt to extend this line of work into object detection by leveraging the localization ability of pre-trained VLMs and generating pseudo…

The Large Vision Language Model (VLM) has recently addressed remarkable progress in bridging two fundamental modalities. VLM, trained by a sufficiently large dataset, exhibits a comprehensive understanding of both visual and linguistic to…

Vision Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interactions. Current benchmarks test high level relationships ('left…

Unseen object pose estimation methods often rely on CAD models or multiple reference views, making the onboarding stage costly. To simplify reference acquisition, we aim to estimate the unseen object's pose through a single unposed RGB-D…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…

Vision Foundation Models (VFMs) and Vision Language Models (VLMs) have revolutionized computer vision by providing rich semantic and geometric representations. This paper presents a comprehensive visual comparison between CLIP based and…

Detecting anomalous hazards in visual data, particularly in video streams, is a critical challenge in autonomous driving. Existing models often struggle with unpredictable, out-of-label hazards due to their reliance on predefined object…

Object detection and 6D pose estimation in the crowd (scenes with multiple object instances, severe foreground occlusions and background distractors), has become an important problem in many rapidly evolving technological areas such as…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Human-object interaction (HOI) detection aims to comprehend the intricate relationships between humans and objects, predicting $<human, action, object>$ triplets, and serving as the foundation for numerous computer vision tasks. The…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Object referring has important applications, especially for human-machine interaction. While having received great attention, the task is mainly attacked with written language (text) as input rather than spoken language (speech), which is…