相关论文: Diffusion Features for Zero-Shot 6DoF Object Pose …

Detecting visual anomalies in diverse, multi-class real-world images is a significant challenge. We introduce \ours, a novel unsupervised multi-class visual anomaly detection framework. It integrates a Latent Diffusion Model (LDM) with a…

This paper presents a neural architecture MVDiffusion++ for 3D object reconstruction that synthesizes dense and high-resolution views of an object given one or a few images without camera poses. MVDiffusion++ achieves superior flexibility…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

We present a simple yet effective training-free approach for zero-shot 3D symmetry detection that leverages visual features from foundation vision models such as DINOv2. Our method extracts features from rendered views of 3D objects and…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Vision-language models (VLMs) trained on internet-scale data achieve remarkable zero-shot detection performance on common objects like car, truck, and pedestrian. However, state-of-the-art models still struggle to generalize to…

Large-scale contrastive vision-language pre-trained models provide the zero-shot model achieving competitive performance across a range of image classification tasks without requiring training on downstream data. Recent works have confirmed…

This paper presents OC-DiT, a novel class of diffusion models designed for object-centric prediction, and applies it to zero-shot instance segmentation. We propose a conditional latent diffusion framework that generates instance masks by…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Medical foundation models have shown promise in controlled benchmarks, yet widespread deployment remains hindered by reliance on task-specific fine-tuning. Here, we introduce DermFM-Zero, a dermatology vision-language foundation model…

Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…

While methods for monocular depth estimation have made significant strides on standard benchmarks, zero-shot metric depth estimation remains unsolved. Challenges include the joint modeling of indoor and outdoor scenes, which often exhibit…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Large-scale vision foundation models have demonstrated remarkable success across various tasks, underscoring their robust generalization capabilities. While their proficiency in two-view correspondence has been explored, their effectiveness…

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…

While deep learning, including Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs), has significantly advanced classification performance, its typical reliance on extensive annotated datasets presents a major obstacle in…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…