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

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

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…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Video Large Language Models (VideoLLMs) have recently demonstrated remarkable progress in general video understanding. However, existing models primarily focus on high-level comprehension and are limited to text-only responses, restricting…

Vision-Language Model (VLM) have gained widespread adoption in Open-Vocabulary (OV) object detection and segmentation tasks. Despite they have shown promise on OV-related tasks, their effectiveness in conventional vision tasks has thus far…

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…

We present a method to populate an unknown environment with models of previously seen objects, placed in a Euclidean reference frame that is inferred causally and on-line using monocular video along with inertial sensors. The system we…

Although existing multi-object tracking (MOT) algorithms have obtained competitive performance on various benchmarks, almost all of them train and validate models on the same domain. The domain generalization problem of MOT is hardly…

We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D object pose estimation and related tasks. In 2024, our goal…

The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previous methods focus on the learning of object-level…

We present lazy visual grounding, a two-stage approach of unsupervised object mask discovery followed by object grounding, for open-vocabulary semantic segmentation. Plenty of the previous art casts this task as pixel-to-text classification…

Multimodal large language models (MLLMs) have enabled a wide range of advanced vision-language applications, including fine-grained object recognition and contextual understanding. When querying specific regions or objects in an image,…

In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with special properties such as deformability is challenging for…

Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…

The goal of this work is to establish a scalable pipeline for expanding an object detector towards novel/unseen categories, using zero manual annotations. To achieve that, we make the following four contributions: (i) in pursuit of…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

We introduce a method to train vision-language models for remote-sensing images without using any textual annotations. Our key insight is to use co-located internet imagery taken on the ground as an intermediary for connecting…