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

6D object pose estimation plays a crucial role in scene understanding for applications such as robotics and augmented reality. To support the needs of ever-changing object sets in such context, modern zero-shot object pose estimators were…

Embodied agents operating in smart homes must understand human behavior through diverse sensory inputs and communicate via natural language. While Vision-Language Models (VLMs) have enabled impressive language-grounded perception, their…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

The primary challenge in computer vision is precisely calculating the pose of 6D objects, however many current approaches are still fragile and have trouble generalizing from synthetic data to real-world situations with fluctuating…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

Vision-language models (VLMs) have recently shown remarkable capabilities in visual understanding and generation, but remain vulnerable to adversarial manipulations of visual content. Prior object-hiding attacks primarily rely on…

Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the…

Vision-language models (VLMs), such as CLIP and SigLIP, have found remarkable success in classification, retrieval, and generative tasks. For this, VLMs deterministically map images and text descriptions to a joint latent space in which…

Vision-language models (VLMs) have demonstrated remarkable potential in integrating visual and linguistic information, but their performance is often constrained by the need for extensive, high-quality image-text training data. Curation of…

Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

The fusion of language and vision in large vision-language models (LVLMs) has revolutionized deep learning-based object detection by enhancing adaptability, contextual reasoning, and generalization beyond traditional architectures. This…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

Human pose and shape (HPS) estimation methods have been extensively studied, with many demonstrating high zero-shot performance on in-the-wild images and videos. However, these methods often struggle in challenging scenarios involving…

Vision-language models (VLMs) have shown to be effective at image retrieval based on simple text queries, but text-image retrieval based on conversational input remains a challenge. Consequently, if we want to use VLMs for reference…

Understanding relationships between objects is central to visual intelligence, with applications in embodied AI, assistive systems, and scene understanding. Yet, most visual relationship detection (VRD) models rely on a fixed predicate set,…

Vision-language models (VLMs) have enabled strong zero-shot classification through image-text alignment. Yet, their purely visual inference capabilities remain under-explored. In this work, we conduct a comprehensive evaluation of both…

Recently, the emergence of the large-scale vision-language model (VLM), such as CLIP, has opened the way towards open-world object perception. Many works have explored the utilization of pre-trained VLM for the challenging open-vocabulary…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…