相关论文: SCFlow2: Plug-and-Play Object Pose Refiner with Sh…

Observational noise, inaccurate segmentation and ambiguity due to symmetry and occlusion lead to inaccurate object pose estimates. While depth- and RGB-based pose refinement approaches increase the accuracy of the resulting pose estimates,…

Flow matching is a scalable generative framework for characterizing continuous normalizing flows with wide-range applications. However, current state-of-the-art methods are not well-suited for modeling dynamical systems, as they construct…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

This work introduces an effective and practical solution to the dense two-view structure from motion (SfM) problem. One vital question addressed is how to mindfully use per-pixel optical flow correspondence between two frames for accurate…

Pose refinement is an interesting and practically relevant research direction. Pose refinement can be used to (1) obtain a more accurate pose estimate from an initial prior (e.g., from retrieval), (2) as pre-processing, i.e., to provide a…

Diffusion and flow-based generative models have shown strong potential for image restoration. However, image denoising under unknown and varying noise conditions remains challenging, because the learned vector fields may become inconsistent…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

Diffusion models have revolutionized generative tasks through high-fidelity outputs, yet flow matching (FM) offers faster inference and empirical performance gains. However, current foundation FM models are computationally prohibitive for…

Style transfer in diffusion models enables controllable visual generation by injecting the style of a reference image. However, recent encoder-based methods, while efficient and tuning-free, often suffer from content leakage, where semantic…

Recent learning-based methods for event-based optical flow estimation utilize cost volumes for pixel matching but suffer from redundant computations and limited scalability to higher resolutions for flow refinement. In this work, we take…

Underwater Salient Object Detection (USOD) faces significant challenges, including underwater image quality degradation and domain gaps. Existing methods tend to ignore the physical principles of underwater imaging or simply treat…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

Optical flow estimation is crucial to a variety of vision tasks. Despite substantial recent advancements, achieving real-time on-device optical flow estimation remains a complex challenge. First, an optical flow model must be sufficiently…

The FlowNet demonstrated that optical flow estimation can be cast as a learning problem. However, the state of the art with regard to the quality of the flow has still been defined by traditional methods. Particularly on small displacements…

We introduce S2C-3D, a novel sparse-view 3D reconstruction framework for high-fidelity and complete scene reconstruction from as few as six to eight images. Our framework features three components: a specialized diffusion model for…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large…