相关论文: Precise Pick-and-Place using Score-Based Diffusion…

Diffusion models have demonstrated impressive performance in various image generation, editing, enhancement and translation tasks. In particular, the pre-trained text-to-image stable diffusion models provide a potential solution to the…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…

Score-based methods have recently seen increasing popularity in modeling and generation. Methods have been constructed to perform hypothesis testing and change-point detection with score functions, but these methods are in general not as…

Diffusion models are capable of generating impressive images conditioned on text descriptions, and extensions of these models allow users to edit images at a relatively coarse scale. However, the ability to precisely edit the layout,…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

We present Acc3D to tackle the challenge of accelerating the diffusion process to generate 3D models from single images. To derive high-quality reconstructions through few-step inferences, we emphasize the critical issue of regularizing the…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their…

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…

Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative models such as Stable Diffusion can aid by generating…

Image enhancement finds wide-ranging applications in real-world scenarios due to complex environments and the inherent limitations of imaging devices. Recent diffusion-based methods yield promising outcomes but necessitate prolonged and…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Diffusion-model-based image super-resolution techniques often face a trade-off between realistic image generation and computational efficiency. This issue is exacerbated when inference times by decreasing sampling steps, resulting in less…

Our goal is to develop fine-grained real-image editing methods suitable for real-world applications. In this paper, we first summarize four requirements for these methods and propose a novel diffusion-based image editing framework with…

A precise and user-friendly manipulation of image content while preserving image fidelity has always been crucial to the field of image editing. Thanks to the power of generative models, recent point-based image editing methods allow users…

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…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…