相关论文: CanoVerse: 3D Object Scalable Canonicalization and…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Most of existing category-level object pose estimation methods devote to learning the object category information from point cloud modality. However, the scale of 3D datasets is limited due to the high cost of 3D data collection and…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

3D open-world classification is a challenging yet essential task in dynamic and unstructured real-world scenarios, requiring both open-category and open-pose recognition. To address these challenges, recent wisdom often takes sophisticated…

Computer vision has undergone a dramatic revolution in performance, driven in large part through deep features trained on large-scale supervised datasets. However, much of these improvements have focused on static image analysis; video…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

This paper tackles the task of category-level pose estimation for garments. With a near infinite degree of freedom, a garment's full configuration (i.e., poses) is often described by the per-vertex 3D locations of its entire 3D surface.…

A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

While neural representations for static 3D shapes are widely studied, representations for deformable surfaces are limited to be template-dependent or lack efficiency. We introduce Canonical Deformation Coordinate Space (CaDeX), a unified…

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control…

Learning visual features from unlabeled images has proven successful for semantic categorization, often by mapping different $views$ of the same object to the same feature to achieve recognition invariance. However, visual recognition…

Generative AI (GenAI) has significantly advanced the ease and flexibility of image creation. However, it remains a challenge to precisely control spatial compositions, including object arrangement and scene conditions. To bridge this gap,…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

In this paper, we focus on recognizing 3D shapes from arbitrary views, i.e., arbitrary numbers and positions of viewpoints. It is a challenging and realistic setting for view-based 3D shape recognition. We propose a canonical view…

Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…

Recent multimodal large language models have achieved strong performance in unified text and image understanding and generation, yet extending such native capability to 3D remains challenging due to limited data. Compared to abundant 2D…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…