RFTrans: Leveraging Refractive Flow of Transparent Objects for Surface Normal Estimation and Manipulation

no code implementations • 21 Nov 2023 • Tutian Tang, Jiyu Liu, Jieyi Zhang, Haoyuan Fu, Wenqiang Xu, Cewu Lu

By leveraging refractive flow as an intermediate representation, the proposed method circumvents the drawbacks of directly predicting the geometry (e. g. surface normal) from images and helps bridge the sim-to-real gap.

Surface Normal Estimation Transparent objects

AKB-48: A Real-World Articulated Object Knowledge Base

no code implementations • CVPR 2022 • Liu Liu, Wenqiang Xu, Haoyuan Fu, Sucheng Qian, Yang Han, Cewu Lu

To bridge the gap, we present AKB-48: a large-scale Articulated object Knowledge Base which consists of 2, 037 real-world 3D articulated object models of 48 categories.

Object Object Reconstruction +1

OMAD: Object Model with Articulated Deformations for Pose Estimation and Retrieval

no code implementations • 14 Dec 2021 • Han Xue, Liu Liu, Wenqiang Xu, Haoyuan Fu, Cewu Lu

With the full representation of the object shape and joint states, we can address several tasks including category-level object pose estimation and the articulated object retrieval.

Object Pose Estimation +1

Towards Real-World Category-level Articulation Pose Estimation

no code implementations • 7 May 2021 • Liu Liu, Han Xue, Wenqiang Xu, Haoyuan Fu, Cewu Lu

This setting allows varied kinematic structures within a semantic category, and multiple instances to co-exist in an observation of real world.

Mixed Reality Pose Estimation