相关论文: One View, Many Worlds: Single-Image to 3D Object M…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

This paper addresses a challenging problem -- how to generate multi-view cloth images from only a single view input. To generate realistic-looking images with different views from the input, we propose a new image generation model termed…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Generating explorable 3D scenes from a single image is a highly challenging problem in 3D vision. Existing methods struggle to support free exploration, often producing severe geometric distortions and noisy artifacts when the viewpoint…

This paper studies the task of full generative modelling of realistic images of humans, guided only by coarse sketch of the pose, while providing control over the specific instance or type of outfit worn by the user. This is a difficult…

This paper addresses the problem of category-level pose estimation for articulated objects in robotic manipulation tasks. Recent works have shown promising results in estimating part pose and size at the category level. However, these…

In this paper, we present a new perspective towards image-based shape generation. Most existing deep learning based shape reconstruction methods employ a single-view deterministic model which is sometimes insufficient to determine a single…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

While pose estimation is an important computer vision task, it requires expensive annotation and suffers from domain shift. In this paper, we investigate the problem of domain adaptive 2D pose estimation that transfers knowledge learned on…

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are…

Existing 3D human pose estimation methods often suffer in performance, when applied to cross-scenario inference, due to domain shifts in characteristics such as camera viewpoint, position, posture, and body size. Among these factors, camera…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Single-view 3D shape reconstruction is an important but challenging problem, mainly for two reasons. First, as shape annotation is very expensive to acquire, current methods rely on synthetic data, in which ground-truth 3D annotation is…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D Gaussian Splatting…

Generating new images with desired properties (e.g. new view/poses) from source images has been enthusiastically pursued recently, due to its wide range of potential applications. One way to ensure high-quality generation is to use multiple…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…