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

This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

Combinatorial optimization problems (COPs) are an important research topic in various fields. In recent times, there have been many attempts to solve COPs using deep learning-based approaches. We propose a novel neural network model that…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

Recent advances in feature learning have shown that self-supervised vision foundation models can capture semantic correspondences but often lack awareness of underlying 3D geometry. GECO addresses this gap by producing geometrically…

Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…

Estimating the 6D pose of an object from a single RGB image is a critical task that becomes additionally challenging when dealing with symmetric objects. Recent approaches typically establish one-to-one correspondences between image pixels…

Camouflaged Object Detection (COD) demands models to expeditiously and accurately distinguish objects which conceal themselves seamlessly in the environment. Owing to the subtle differences and ambiguous boundaries, COD is not only a…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

Transferring visual style between images while preserving semantic correspondence between similar objects remains a central challenge in computer vision. While existing methods have made great strides, most of them operate at global level…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

Most learning-based approaches to category-level 6D pose estimation are design around normalized object coordinate space (NOCS). While being successful, NOCS-based methods become inaccurate and less robust when handling objects of a…

Cooperative perception, leveraging shared information from multiple vehicles via vehicle-to-vehicle (V2V) communication, plays a vital role in autonomous driving to alleviate the limitation of single-vehicle perception. Existing works have…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Camouflaged Object Detection (COD) is a challenging task in computer vision due to the high similarity between camouflaged objects and their surroundings. Existing COD methods primarily employ semantic segmentation, which suffers from…

Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

In this work, we present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image. While many existing data-driven methods achieve impressive performance, they tend to be time-consuming due to their…

Our paper introduces a novel two-stage self-supervised approach for detecting co-occurring salient objects (CoSOD) in image groups without requiring segmentation annotations. Unlike existing unsupervised methods that rely solely on…