相关论文: EpiDiffVO: Geometry-Aware Epipolar Diffusion for R…

Traditionally, pose estimation is considered as a two step problem. First, feature correspondences are determined by direct comparison of image patches, or by associating feature descriptors. In a second step, the relative pose and the…

Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…

Nonlinear manifolds are pervasive in deep visual features, where Euclidean distances can misrepresent true similarity. This mismatch is particularly detrimental to prototype-based interpretable fine-grained recognition, where even subtle…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

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…

We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries and occlusions introduce visual ambiguities, leading to…

Deep generative models have emerged as state-of-the-art for solving inverse problems, but applying them to inverse problems for PDEs, like electrical impedance tomography (EIT) remains challenging. Because physical domains are naturally…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

Robust in-bed human pose estimation under blanket occlusion remains challenging due to the scarcity of reliable labeled training data for heavily covered poses. Existing approaches rely on multi-modal sensing or image-to-image translation…

Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…

This paper introduces TopoDiffuser, a diffusion-based framework for multimodal trajectory prediction that incorporates topometric maps to generate accurate, diverse, and road-compliant future motion forecasts. By embedding structural cues…

Inverse problems governed by partial differential equations (PDEs) are crucial in science and engineering. They are particularly challenging due to ill-posedness, data sparsity, and the added complexity of irregular geometries. Classical…

We consider the problem of establishing dense correspondences within a set of related shapes of strongly varying geometry. For such input, traditional shape matching approaches often produce unsatisfactory results. We propose an ensemble…

Endoscopic Submucosal Dissection (ESD) is a well-established technique for removing epithelial lesions. Predicting dissection trajectories in ESD videos offers significant potential for enhancing surgical skill training and simplifying the…

The objective for establishing dense correspondence between paired images consists of two terms: a data term and a prior term. While conventional techniques focused on defining hand-designed prior terms, which are difficult to formulate,…

Epipolar constraints are at the core of feature matching and depth estimation in current multi-person multi-camera 3D human pose estimation methods. Despite the satisfactory performance of this formulation in sparser crowd scenes, its…

Monocular 3D human pose estimation is quite challenging due to the inherent ambiguity and occlusion, which often lead to high uncertainty and indeterminacy. On the other hand, diffusion models have recently emerged as an effective tool for…

We present a robust method to find region-level correspondences between shapes, which are invariant to changes in geometry and applicable across multiple shape representations. We generate simplified shape graphs by jointly decomposing the…

Multi-view diffusion models have recently emerged as a powerful paradigm for novel view synthesis, yet the underlying mechanism that enables their view-consistency remains unclear. In this work, we first verify that the attention maps of…

Recent methods using diffusion models have made significant progress in human image generation with various control signals such as pose priors. However, existing efforts are still struggling to generate high-quality images with consistent…