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

6D pose confidence region estimation has emerged as a critical direction, aiming to perform uncertainty quantification for assessing the reliability of estimated poses. However, current sampling-based approach suffers from critical…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…

Human pose estimation has achieved significant progress on images with high imaging resolution. However, low-resolution imagery data bring nontrivial challenges which are still under-studied. To fill this gap, we start with investigating…

We introduce a unified, end-to-end framework that seamlessly integrates object detection and pose estimation with a versatile onboarding process. Our pipeline begins with an onboarding stage that generates object representations from either…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…

This paper presents a self-supervised method for learning reliable visual correspondence from unlabeled videos. We formulate the correspondence as finding paths in a joint space-time graph, where nodes are grid patches sampled from frames,…

Estimating relative pose from image pairs fundamentally requires only a minimal subset of geometrically consistent correspondences. However, most learning-based approaches rely on dense matching or direct regression, leading to redundancy…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

Deep learning-based object pose estimators are often unreliable and overconfident especially when the input image is outside the training domain, for instance, with sim2real transfer. Efficient and robust uncertainty quantification (UQ) in…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

In this paper, we target image-based person-to-person virtual try-on in the presence of diverse poses and large viewpoint variations. Existing methods are restricted in this setting as they estimate garment warping flows mainly based on 2D…

A vexing problem in artificial intelligence is reasoning about events that occur in complex, changing visual stimuli such as in video analysis or game play. Inspired by a rich tradition of visual reasoning and memory in cognitive psychology…

Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, and noise. We address these issues by proposing Confidence…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

Video shadow detection aims to generate consistent shadow predictions among video frames. However, the current approaches suffer from inconsistent shadow predictions across frames, especially when the illumination and background textures…

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…