4 papers
Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimation
Jiahong Chen, Jinghao Wang, Ziwen Wang +3
Single-reference unseen object 6D pose estimation reduces object onboarding by estimating poses of arbitrary novel objects from only one reference view. Recent correspondence-based…
TravExplorer: Cross-Floor Embodied Exploration via Traversability-Aware 3-D Planning
Han Zheng, Zhe Chen, Yudong Huang +4
Zero-shot Object Navigation (ZSON) has shown promise for open-vocabulary target search in unseen environments, yet most existing systems remain tied to planar representations and s…
DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects
Jiahong Chen, Jinghao Wang, Zi Wang +3
6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view…
Deterministic Object Pose Confidence Region Estimation
Jinghao Wang, Zhang Li, Zi Wang +3
6D pose confidence region estimation has emerged as a critical direction, aiming to perform uncertainty quantification for assessing the reliability of estimated poses. However, cu…