相关论文: COG: Confidence-aware Optimal Geometric Correspond…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

Visual Odometry (VO) is fundamental to autonomous navigation, robotics, and augmented reality, with unsupervised approaches eliminating the need for expensive ground-truth labels. However, these methods struggle when dynamic objects violate…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a…

Off-the-shelf single-stage multi-person pose regression methods generally leverage the instance score (i.e., confidence of the instance localization) to indicate the pose quality for selecting the pose candidates. We consider that there are…

We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…

Correspondence identification (CoID) is an essential component for collaborative perception in multi-robot systems, such as connected autonomous vehicles. The goal of CoID is to identify the correspondence of objects observed by multiple…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Unsupervised 3D keypoints estimation from Point Cloud Data (PCD) is a complex task, even more challenging when an object shape is deforming. As keypoints should be semantically and geometrically consistent across all the 3D frames - each…

Recent advances show that Generative Adversarial Networks (GANs) can synthesize images with smooth variations along semantically meaningful latent directions, such as pose, expression, layout, etc. While this indicates that GANs implicitly…

Contrastive learning has been adopted as a core method for unsupervised visual representation learning. Without human annotation, the common practice is to perform an instance discrimination task: Given a query image crop, this task labels…

Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

We present a method for finding cross-modal space-time correspondences. Given two images from different visual modalities, such as an RGB image and a depth map, our model identifies which pairs of pixels correspond to the same physical…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

Humans have the capacity to question what we see and to recognize when our vision is unreliable (e.g., when we realize that we are experiencing a visual illusion). Inspired by this capacity, we present MetaCOG: a hierarchical probabilistic…

Emerging unified editing models have demonstrated strong capabilities in general object editing tasks. However, it remains a significant challenge to perform fine-grained editing in complex multi-entity scenes, particularly those where…