While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc. Orthogonal to them, this work presents a category-level object pose and size refiner CATRE, which is able to iteratively enhance pose estimate from point clouds to produce accurate results. Given an initial pose estimate, CATRE predicts a relative transformation between the initial pose and ground truth by means of aligning the partially observed point cloud and an abstract shape prior. In specific, we propose a novel disentangled architecture being aware of the inherent distinctions between rotation and translation/size estimation. Extensive experiments show that our approach remarkably outperforms state-of-the-art methods on REAL275, CAMERA25, and LM benchmarks up to a speed of ~85.32Hz, and achieves competitive results on category-level tracking. We further demonstrate that CATRE can perform pose refinement on unseen category. Code and trained models are available.
The Chinese University of Hong Kong（香港中文大学）；T Stone Robotics Institute, The Chinese University of Hong Kong（香港中文大学T Stone机器人研究所）
Category-level 6D pose estimation, aiming to predict the location and orientation of unseen object instances, is fundamental to many scenarios such as robotic manipulation and augmented reality, yet still remains unsolved. Precisely recovering instance 3D model in the canonical space and accurately matching it with the observation is an essential point when estimating 6D pose for unseen objects. In this paper, we achieve accurate category-level 6D pose estimation via cascaded relation and recurrent reconstruction networks. Specifically, a novel cascaded relation network is dedicated for advanc…
Shanghai Jiao Tong University（上海交通大学）；East China Normal University（华东师范大学）
Point cloud completion aims at completing geometric and topological shapes from a partial observation. However, some topology of the original shape is missing, existing methods directly predict the location of complete points, without predicting structured and topological information of the complete shape, which leads to inferior performance. To better tackle the missing topology part, we propose LAKe-Net, a novel topology-aware point cloud completion model by localizing aligned keypoints, with a novel Keypoints-Skeleton-Shape prediction manner. Specifically, our method completes missing topol…
Hierarchical Corpus-View-Category Refinement for Carotid Plaque Risk Grading in Ultrasound
National-Regional Key Technology Engineering Laboratory for Medical Ultrasound（医学超声关键技术工程实验室）；School of Biomedical Engineering, Medical School, Shenzhen University（生物医学工程学院）；College of Computer Science and Software Engineering, Shenzhen University（计算机科学与软件工程学院）；Fuwai Shenzhen Hospital, Chinese Academy of Medical Sciences（阜外深圳医院，中国医学科学院）；Shenzhen RayShape Medical Technology Co., Ltd（深圳RayShape医疗科技有限公司）；Faculty of Applied Sciences, Macao Polytechnic University（应用科学学院）
Recent work on single-view 3D reconstruction shows impressive results, but has been restricted to a few fixed categories where extensive training data is available. The problem of generalizing these models to new classes with limited training data is largely open. To address this problem, we present a new model architecture that reframes single-view 3D reconstruction as learnt, category agnostic refinement of a provided, category-specific prior. The provided prior shape for a novel class can be obtained from as few as one 3D shape from this class. Our model can start reconstructing objects fro…
The Chinese University of Hong Kong（香港中文大学）；University of California, Berkeley（加州大学伯克利分校）；Dyson Robot Learning Lab（戴森机器人学习实验室）；Hong Kong Centre for Logistics Robotics（香港物流机器人中心）
Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe artifacts. Without a high-quality point cloud, existing methods are not applicable to challenging transparent objects. To tackle this problem, we present StereoPose, a novel stereo image framework for category-level object pose estimation, ideally suited for transparent objects. For a robust estimation from pure stereo images, we develop a pipeline that decouples …
Grasp pose estimation is an important issue for robots to interact with the real world. However, most of existing methods require exact 3D object models available beforehand or a large amount of grasp annotations for training. To avoid these problems, we propose TransGrasp, a category-level grasp pose estimation method that predicts grasp poses of a category of objects by labeling only one object instance. Specifically, we perform grasp pose transfer across a category of objects based on their shape correspondences and propose a grasp pose refinement module to further fine-tune grasp pose of g…
LVLMs as inspectors: an agentic framework for category-level structural defect annotation
National Key Laboratory of Water Disaster Prevention, Hohai University（河海大学水灾害防御全国重点实验室）；College of Water Conservancy and Hydropower Engineering, Hohai University（河海大学水利水电学院）；College of Artificial Intelligence and Automation, Hohai University（河海大学人工智能与自动化学院）；School of Civil Engineering, The University of Sydney（悉尼大学土木工程学院）
iSeg: An Iterative Refinement-based Framework for Training-free Segmentation
School of Electrical and Information Engineering, Tianjin University（天津大学电气与信息工程学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；School of Big Data and Software Engineering, Chongqing University（重庆大学大数据与软件工程学院）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）；Linkoping University（林雪平大学）
Shanghai Jiao Tong University（上海交通大学）；China Merchants Bank Credit Card Center（招商银行信用卡中心）；Anhui COWAROBOT CO Ltd.（安徽酷哇机器人有限公司）
Rotation detection is a challenging task due to the difficulties of locating the multi-angle objects and separating them effectively from the background. Though considerable progress has been made, for practical settings, there still exist challenges for rotating objects with large aspect ratio, dense distribution and category extremely imbalance. In this paper, we propose an end-to-end refined single-stage rotation detector for fast and accurate object detection by using a progressive regression approach from coarse to fine granularity. Considering the shortcoming of feature misalignment in e…
