WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminant Analysis

1 code implementation • ICCV 2023 • Yiye Chen, Yunzhi Lin, Ruinian Xu, Patricio A. Vela

The OOD score is then determined by combining the deviation from the input data to the ID pattern in both subspaces.

Novel Concepts Out-of-Distribution Detection

KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input

1 code implementation • 9 Mar 2023 • Yiye Chen, Ruinian Xu, Yunzhi Lin, Hongyi Chen, Patricio A. Vela

We propose a new 6-DoF grasp pose synthesis approach from 2D/2. 5D input based on keypoints.

Grasp Generation Keypoint Detection +2

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation

1 code implementation • 18 Oct 2022 • Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A. Vela, Stan Birchfield

We present a parallelized optimization method based on fast Neural Radiance Fields (NeRF) for estimating 6-DoF pose of a camera with respect to an object or scene.

Pose Estimation

Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input

1 code implementation • 19 Sep 2022 • Yiye Chen, Yunzhi Lin, Ruinian Xu, Patricio Vela

Great success has been achieved in the 6-DoF grasp learning from the point cloud input, yet the computational cost due to the point set orderlessness remains a concern.

Grasp Generation

Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation

1 code implementation • 23 May 2022 • Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category.

Pose Estimation Pose Tracking

Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image

1 code implementation • 13 Sep 2021 • Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected.

Object object-detection +2

NViSII: A Scriptable Tool for Photorealistic Image Generation

2 code implementations • 28 May 2021 • Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald

We present a Python-based renderer built on NVIDIA's OptiX ray tracing engine and the OptiX AI denoiser, designed to generate high-quality synthetic images for research in computer vision and deep learning.

Image Generation Optical Flow Estimation +1

A Joint Network for Grasp Detection Conditioned on Natural Language Commands

no code implementations • 1 Apr 2021 • Yiye Chen, Ruinian Xu, Yunzhi Lin, Patricio A. Vela

We consider the task of grasping a target object based on a natural language command query.

Object Retrieval

Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping

1 code implementation • 12 Sep 2019 • Yunzhi Lin, Chao Tang, Fu-Jen Chu, Patricio A. Vela

Each primitive shape is designed with parametrized grasp families, permitting the pipeline to identify multiple grasp candidates per shape primitive region.