arXiv Computer Vision
Sep 17

Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion

The paper presents a generative framework that estimates category-level 6D pose and 3D size of objects from a single RGB image, using score-based diffusion models to produce a multi-hypothesis pose distribution. It replaces costly likelihood pruning with a Mean Shift approach to isolate the mode as the final pose estimate, achieving state-of-the-art results on the REAL275 benchmark. The method also decouples detection from pose estimation, enabling robust zero-shot generalisation on the Wild6D dataset and extending naturally to video sequences by propagating the pose distribution over time.

By Adam Bethell, Ravi Garg, Ian Reid
arXiv Computer Vision
Oct 23

ORSIFlow: Saliency-Guided Rectified Flow for Optical Remote Sensing Salient Object Detection

ORSIFlow is a saliency‑guided rectified flow framework for optical remote sensing salient object detection that reframes the task as deterministic latent flow generation. It uses a frozen variational autoencoder to produce saliency masks in a compact latent space, allowing efficient inference with few steps. The method incorporates a Salient Feature Discriminator for global semantic discrimination and a Salient Feature Calibrator for precise boundary refinement, achieving state‑of‑the‑art performance on multiple public benchmarks.

By Haojing Chen, Zhihang Liu, Yutong Li, Tao Tan, Haoyu Bian, Qiuju Ma