相关论文: Diffusion-based Inverse Model of a Distributed Tac…

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges…

Estimating the 6D pose and 3D size of an object from an image is a fundamental task in computer vision. Most current approaches are restricted to specific instances with known models or require ground truth depth information or point cloud…

Diffusion models have made remarkable progress in solving various inverse problems, attributing to the generative modeling capability of the data manifold. Posterior sampling from the conditional score function enable the precious data…

Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…

Diffusion-based image translation guided by semantic texts or a single target image has enabled flexible style transfer which is not limited to the specific domains. Unfortunately, due to the stochastic nature of diffusion models, it is…

Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…

Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…

Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…

Recently it has been shown that using diffusion models for inverse problems can lead to remarkable results. However, these approaches require a closed-form expression of the degradation model and can not support complex degradations. To…

Score-based diffusion models have significantly advanced high-dimensional data generation across various domains, by learning a denoising oracle (or score) from datasets. From a Bayesian perspective, they offer a realistic modeling of data…

We introduce Diffusion Active Learning, a novel approach that combines generative diffusion modeling with data-driven sequential experimental design to adaptively acquire data for inverse problems. Although broadly applicable, we focus on…

Score-based diffusion models learn to reverse a stochastic differential equation that maps data to noise. However, for complex tasks, numerical error can compound and result in highly unnatural samples. Previous work mitigates this drift…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Recent object detectors have achieved impressive accuracy in identifying objects seen during training. However, real-world deployment often introduces novel and unexpected objects, referred to as out-of-distribution (OOD) objects, posing…

In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Animal pose estimation is a fundamental task in computer vision, with growing importance in ecological monitoring, behavioral analysis, and intelligent livestock management. Compared to human pose estimation, animal pose estimation is more…

Thanks to the development of 2D keypoint detectors, monocular 3D human pose estimation (HPE) via 2D-to-3D uplifting approaches have achieved remarkable improvements. Still, monocular 3D HPE is a challenging problem due to the inherent depth…

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…

Learning from a large corpus of data, pre-trained models have achieved impressive progress nowadays. As popular generative pre-training, diffusion models capture both low-level visual knowledge and high-level semantic relations. In this…