相关论文: RoboEye: Enhancing 2D Robotic Object Identificatio…

Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…

The "thinking-with-images" paradigm enables multimodal large language models (MLLMs) to actively explore visual scenes via zoom-in tools. This is essential for ultra-high-resolution (UHR) remote sensing VQA, where task-relevant cues are…

Object re-identification (ReID) in egocentric kitchen videos is challenging due to rapid viewpoint changes, frequent occlusions, cluttered scenes, and large intra-class appearance variations. Objects may leave and re-enter the field of…

Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Household robots operate in the same space for years. Such robots incrementally build dynamic maps that can be used for tasks requiring remote object localization. However, benchmarks in robot learning often test generalization through…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained vision language models (VLMs), recent approaches are still not qualified to accurately…

While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…

The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream effects on policy learning. This paper presents the first…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…