相关论文: Object Agnostic 3D Lifting in Space and Time

This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal…

Existing video-based action recognition systems typically require dense annotation and struggle in environments when there is significant distribution shift relative to the training data. Current methods for video domain adaptation…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

Object pose increases intraclass object variance which makes object recognition from 2D images harder. To render a classifier robust to pose variations, most deep neural networks try to eliminate the influence of pose by using large…

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

In this paper, we propose a new approach for keypoint-based object detection. Traditional keypoint-based methods consist in classifying individual points and using pose estimation to discard misclassifications. Since a single point carries…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Semantic segmentation in autonomous driving predominantly focuses on learning from large-scale data with a closed set of known classes without considering unknown objects. Motivated by safety reasons, we address the video class agnostic…

Lifting multi-view 2D instance segmentation to a radiance field has proven to be effective to enhance 3D understanding. Existing methods rely on direct matching for end-to-end lifting, yielding inferior results; or employ a two-stage…

Computer vision is largely based on 2D techniques, with 3D vision still relegated to a relatively narrow subset of applications. However, by building on recent advances in 3D models such as neural radiance fields, some authors have shown…

Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…

We propose a novel setting for learning, where the input domain is the image of a map defined on the product of two sets, one of which completely determines the labels. We derive a new risk bound for this setting that decomposes into a bias…

Traditional approaches for learning 3D object categories use either synthetic data or manual supervision. In this paper, we propose a method which does not require manual annotations and is instead cued by observing objects from a moving…

Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…