相关论文: Distilling 3D distinctive local descriptors for 6D…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

Semantic correspondence, the task of determining relationships between different parts of images, underpins various applications including 3D reconstruction, image-to-image translation, object tracking, and visual place recognition. Recent…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

To achieve accurate and low-cost 3D object detection, existing methods propose to benefit camera-based multi-view detectors with spatial cues provided by the LiDAR modality, e.g., dense depth supervision and bird-eye-view (BEV) feature…

Universal image representations are critical in enabling real-world fine-grained and instance-level recognition applications, where objects and entities from any domain must be identified at large scale. Despite recent advances, existing…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

In instance-level detection tasks (e.g., object detection), reducing input resolution is an easy option to improve runtime efficiency. However, this option traditionally hurts the detection performance much. This paper focuses on boosting…

Extracting keypoint locations from input hand frames, known as 3D hand pose estimation, is a critical task in various human-computer interaction applications. Essentially, the 3D hand pose estimation can be regarded as a 3D point subset…

Current state-of-the-art object detectors are at the expense of high computational costs and are hard to deploy to low-end devices. Knowledge distillation, which aims at training a smaller student network by transferring knowledge from a…

Recent approaches have shown promises distilling diffusion models into efficient one-step generators. Among them, Distribution Matching Distillation (DMD) produces one-step generators that match their teacher in distribution, without…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

In this paper we revisit the efficacy of knowledge distillation as a function matching and metric learning problem. In doing so we verify three important design decisions, namely the normalisation, soft maximum function, and projection…

The existing solutions for object detection distillation rely on the availability of both a teacher model and ground-truth labels. We propose a new perspective to relax this constraint. In our framework, a student is first trained with…

Point cloud processing has gained significant attention due to its critical role in applications such as autonomous driving and 3D object recognition. However, deploying high-performance models like Point Transformer V3 in…

Text-to-3D generation has shown rapid progress in recent days with the advent of score distillation, a methodology of using pretrained text-to-2D diffusion models to optimize neural radiance field (NeRF) in the zero-shot setting. However,…