相关论文: PAOLI: Pose-free Articulated Object Learning from …

6D object pose estimation, which predicts the transformation of an object relative to the camera, remains challenging for unseen objects. Existing approaches typically rely on explicitly constructing feature correspondences between the…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

Are camera poses necessary for multi-view 3D modeling? Existing approaches predominantly assume access to accurate camera poses. While this assumption might hold for dense views, accurately estimating camera poses for sparse views is often…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…

Hand-object interaction understanding and the barely addressed novel view synthesis are highly desired in the immersive communication, whereas it is challenging due to the high deformation of hand and heavy occlusions between hand and…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Recent works in hand-object reconstruction mainly focus on the single-view and dense multi-view settings. On the one hand, single-view methods can leverage learned shape priors to generalise to unseen objects but are prone to inaccuracies…

One of the key challenges of visual perception is to extract abstract models of 3D objects and object categories from visual measurements, which are affected by complex nuisance factors such as viewpoint, occlusion, motion, and…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

The sparse, hierarchical, and modular processing of natural signals is related to the ability of humans to recognize objects with high accuracy. In this study, we report a sparse feature processing and encoding method, which improved the…

Despite progress in human motion capture, existing multi-view methods often face challenges in estimating the 3D pose and shape of multiple closely interacting people. This difficulty arises from reliance on accurate 2D joint estimations,…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

We study the problem of learning to estimate the 3D object pose from a few labelled examples and a collection of unlabelled data. Our main contribution is a learning framework, neural view synthesis and matching, that can transfer the 3D…

We propose an unsupervised method for 3D geometry-aware representation learning of articulated objects, in which no image-pose pairs or foreground masks are used for training. Though photorealistic images of articulated objects can be…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…