10 accepted papers
Open-world promptable 3D semantic segmentation remains brittle as semantics are inferred in the input sensor coordinates. Yet, humans, in contrast, interpret parts via functional roles in a canonical space -- wings extend laterally, handles protrude to the side, and legs support from below. Psychoph
The 3D perception of satellites, including both their shape and pose, is a key foundation for robotic on-orbit servicing. However, the demanding space environment-such as intense and dim illumination-presents significant challenges. Previous non-cooperative methods focus on specific geometric featur
3D object canonicalization is a fundamental task, essential for various downstream tasks. Existing methods rely on either cumbersome manual processes or priors learned from extensive, per-category training samples. Real-world datasets, however, often exhibit long-tail distributions, challenging exis…
In this paper, we introduce a novel, truly prior-free 3D object tracking method that operates without given any model or training priors. Unlike existing methods that typically require pre-defined 3D models or specific training datasets as priors, which limit their applicability, our method is free…
Category-level object pose estimation demonstrates robust generalization capabilities that benefit robotics applications. However, exclusive reliance on RGB images without leveraging any 3D information introduces ambiguity in the translation and size of objects, leading to suboptimal performance. In…
The existing methods for 6D pose estimation based on RGB-D employ RGB images and observed point cloud derived from depth maps as input, then concurrently predicting both rotation and translation. However, rotation and translation possess distinct characteristics and scale ranges, and their simultane…
Hand-eye calibration estimates the pose of a camera relative to a robot, which is a fundamental problem for visually guided robots, especially for dynamic object grasping. Most methods use 2D fiducial markers with distinctive visual features and require pre-calibration for accurate calibration, whic…
Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view approach to estimate the accurate 3D poses of real moving objec…
"Optimization-based 3D object tracking is known to be precise and fast, but sensitive to large inter-frame displacements due to the local minimum, which usually requires large amount of computation to be overcome. In this paper we propose a fast and effective non-local 3D tracking method. Based on t…
Video-based automatic assessment of a student's learning engagement on the fly can provide immense values for delivering personalized instructional services, a vehicle particularly important for massive online education. To train such an assessor, a major challenge lies in the collection of sufficie…