相关论文: Zero-shot Inexact CAD Model Alignment from a Singl…

When enough annotated training data is available, supervised deep-learning algorithms excel at estimating human body pose and shape using a single camera. The effects of too little such data being available can be mitigated by using other…

Recovering 3D object pose and shape from a single image is a challenging and ill-posed problem. This is due to strong (self-)occlusions, depth ambiguities, the vast intra- and inter-class shape variance, and the lack of 3D ground truth for…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Zero-shot 3D anomaly detection aims to identify anomalies without access to training data from target categories. However, existing methods mainly rely on projecting 3D observations into multi-view representations that primarily capture…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Reconstructing structured 3D scenes from RGB images using CAD objects unlocks efficient and compact scene representations that maintain compositionality and interactability. Existing works propose training-heavy methods relying on either…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

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…

As we move towards large-scale object detection, it is unrealistic to expect annotated training data, in the form of bounding box annotations around objects, for all object classes at sufficient scale, and so methods capable of unseen…

Our paper introduces a novel two-stage self-supervised approach for detecting co-occurring salient objects (CoSOD) in image groups without requiring segmentation annotations. Unlike existing unsupervised methods that rely solely on…

Accurately predicting the 3D shape of any arbitrary object in any pose from a single image is a key goal of computer vision research. This is challenging as it requires a model to learn a representation that can infer both the visible and…

We propose a method to learn 3D deformable object categories from raw single-view images, without external supervision. The method is based on an autoencoder that factors each input image into depth, albedo, viewpoint and illumination. In…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…