SC3EF: A Joint Self-Correlation and Cross-Correspondence Estimation Framework for Visible and Thermal Image Registration

Multispectral imaging plays a critical role in a range of intelligent transportation applications, including advanced driver assistance systems (ADAS), traffic monitoring, and night vision. However, accurate visible and thermal (RGB-T) image registration poses a significant challenge due to the considerable modality differences. In this paper, we present a novel joint Self-Correlation and Cross-Correspondence Estimation Framework (SC3EF), leveraging both local representative features and global contextual cues to effectively generate RGB-T correspondences. For this purpose, we design a convolution-transformer-based pipeline to extract local representative features and encode global correlations of intra-modality for inter-modality correspondence estimation between unaligned visible and thermal images. After merging the local and global correspondence estimation results, we further employ a hierarchical optical flow estimation decoder to progressively refine the estimated dense correspondence maps. Extensive experiments demonstrate the effectiveness of our proposed method, outperforming the current state-of-the-art (SOTA) methods on representative RGB-T datasets. Furthermore, it also shows competitive generalization capabilities across challenging scenarios, including large parallax, severe occlusions, adverse weather, and other cross-modal datasets (e.g., RGB-N and RGB-D).

MBE-ARI: A Multimodal Dataset Mapping Bi-directional Engagement in Animal-Robot Interaction

Animal-robot interaction (ARI) remains an unexplored challenge in robotics, as robots struggle to interpret the complex, multimodal communication cues of animals, such as body language, movement, and vocalizations. Unlike human-robot interaction, which benefits from established datasets and frameworks, animal-robot interaction lacks the foundational resources needed to facilitate meaningful bidirectional communication. To bridge this gap, we present the MBE-ARI (Multimodal Bidirectional Engagement in Animal-Robot Interaction), a novel multimodal dataset that captures detailed interactions between a legged robot and cows. The dataset includes synchronized RGB-D streams from multiple viewpoints, annotated with body pose and activity labels across interaction phases, offering an unprecedented level of detail for ARI research. Additionally, we introduce a full-body pose estimation model tailored for quadruped animals, capable of tracking 39 keypoints with a mean average precision (mAP) of 92.7%, outperforming existing benchmarks in animal pose estimation. The MBE-ARI dataset and our pose estimation framework lay a robust foundation for advancing research in animal-robot interaction, providing essential tools for developing perception, reasoning, and interaction frameworks needed for effective collaboration between robots and animals. The dataset and resources are publicly available at https://github.com/RISELabPurdue/MBE-ARI/, inviting further exploration and development in this critical area.

The Invisible EgoHand: 3D Hand Forecasting through EgoBody Pose Estimation

Forecasting hand motion and pose from an egocentric perspective is essential for understanding human intention. However, existing methods focus solely on predicting positions without considering articulation, and only when the hands are visible in the field of view. This limitation overlooks the fact that approximate hand positions can still be inferred even when they are outside the camera's view. In this paper, we propose a method to forecast the 3D trajectories and poses of both hands from an egocentric video, both in and out of the field of view. We propose a diffusion-based transformer architecture for Egocentric Hand Forecasting, EgoH4, which takes as input the observation sequence and camera poses, then predicts future 3D motion and poses for both hands of the camera wearer. We leverage full-body pose information, allowing other joints to provide constraints on hand motion. We denoise the hand and body joints along with a visibility predictor for hand joints and a 3D-to-2D reprojection loss that minimizes the error when hands are in-view. We evaluate EgoH4 on the Ego-Exo4D dataset, combining subsets with body and hand annotations. We train on 156K sequences and evaluate on 34K sequences, respectively. EgoH4 improves the performance by 3.4cm and 5.1cm over the baseline in terms of ADE for hand trajectory forecasting and MPJPE for hand pose forecasting. Project page: https://masashi-hatano.github.io/EgoH4/

SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flow

We introduce SCFlow2, a plug-and-play refinement framework for 6D object pose estimation. Most recent 6D object pose methods rely on refinement to get accurate results. However, most existing refinement methods either suffer from noises in establishing correspondences, or rely on retraining for novel objects. SCFlow2 is based on the SCFlow model designed for refinement with shape constraint, but formulates the additional depth as a regularization in the iteration via 3D scene flow for RGBD frames. The key design of SCFlow2 is an introduction of geometry constraints into the training of recurrent matching network, by combining the rigid-motion embeddings in 3D scene flow and 3D shape prior of the target. We train SCFlow2 on a combination of dataset Objaverse, GSO and ShapeNet, and evaluate on BOP datasets with novel objects. After using our method as a post-processing, most state-of-the-art methods produce significantly better results, without any retraining or fine-tuning. The source code is available at https://scflow2.github.io.

SatelliteCalculator: A Multi-Task Vision Foundation Model for Quantitative Remote Sensing Inversion

Quantitative remote sensing inversion plays a critical role in environmental monitoring, enabling the estimation of key ecological variables such as vegetation indices, canopy structure, and carbon stock. Although vision foundation models have achieved remarkable progress in classification and segmentation tasks, their application to physically interpretable regression remains largely unexplored. Furthermore, the multi-spectral nature and geospatial heterogeneity of remote sensing data pose significant challenges for generalization and transferability. To address these issues, we introduce SatelliteCalculator, the first vision foundation model tailored for quantitative remote sensing inversion. By leveraging physically defined index formulas, we automatically construct a large-scale dataset of over one million paired samples across eight core ecological indicators. The model integrates a frozen Swin Transformer backbone with a prompt-guided architecture, featuring cross-attentive adapters and lightweight task-specific MLP decoders. Experiments on the Open-Canopy benchmark demonstrate that SatelliteCalculator achieves competitive accuracy across all tasks while significantly reducing inference cost. Our results validate the feasibility of applying foundation models to quantitative inversion, and provide a scalable framework for task-adaptive remote sensing estimation.

Leveraging Synthetic Adult Datasets for Unsupervised Infant Pose Estimation

Human pose estimation is a critical tool across a variety of healthcare applications. Despite significant progress in pose estimation algorithms targeting adults, such developments for infants remain limited. Existing algorithms for infant pose estimation, despite achieving commendable performance, depend on fully supervised approaches that require large amounts of labeled data. These algorithms also struggle with poor generalizability under distribution shifts. To address these challenges, we introduce SHIFT: Leveraging SyntHetic Adult Datasets for Unsupervised InFanT Pose Estimation, which leverages the pseudo-labeling-based Mean-Teacher framework to compensate for the lack of labeled data and addresses distribution shifts by enforcing consistency between the student and the teacher pseudo-labels. Additionally, to penalize implausible predictions obtained from the mean-teacher framework, we incorporate an infant manifold pose prior. To enhance SHIFT's self-occlusion perception ability, we propose a novel visibility consistency module for improved alignment of the predicted poses with the original image. Extensive experiments on multiple benchmarks show that SHIFT significantly outperforms existing state-of-the-art unsupervised domain adaptation (UDA) pose estimation methods by 5% and supervised infant pose estimation methods by a margin of 16%. The project page is available at: https://sarosijbose.github.io/SHIFT.

Gradient-Free Sequential Bayesian Experimental Design via Interacting Particle Systems

We introduce a gradient-free framework for Bayesian Optimal Experimental Design (BOED) in sequential settings, aimed at complex systems where gradient information is unavailable. Our method combines Ensemble Kalman Inversion (EKI) for design optimization with the Affine-Invariant Langevin Dynamics (ALDI) sampler for efficient posterior sampling-both of which are derivative-free and ensemble-based. To address the computational challenges posed by nested expectations in BOED, we propose variational Gaussian and parametrized Laplace approximations that provide tractable upper and lower bounds on the Expected Information Gain (EIG). These approximations enable scalable utility estimation in high-dimensional spaces and PDE-constrained inverse problems. We demonstrate the performance of our framework through numerical experiments ranging from linear Gaussian models to PDE-based inference tasks, highlighting the method's robustness, accuracy, and efficiency in information-driven experimental design.

EMO-X: Efficient Multi-Person Pose and Shape Estimation in One-Stage

Expressive Human Pose and Shape Estimation (EHPS) aims to jointly estimate human pose, hand gesture, and facial expression from monocular images. Existing methods predominantly rely on Transformer-based architectures, which suffer from quadratic complexity in self-attention, leading to substantial computational overhead, especially in multi-person scenarios. Recently, Mamba has emerged as a promising alternative to Transformers due to its efficient global modeling capability. However, it remains limited in capturing fine-grained local dependencies, which are essential for precise EHPS. To address these issues, we propose EMO-X, the Efficient Multi-person One-stage model for multi-person EHPS. Specifically, we explore a Scan-based Global-Local Decoder (SGLD) that integrates global context with skeleton-aware local features to iteratively enhance human tokens. Our EMO-X leverages the superior global modeling capability of Mamba and designs a local bidirectional scan mechanism for skeleton-aware local refinement. Comprehensive experiments demonstrate that EMO-X strikes an excellent balance between efficiency and accuracy. Notably, it achieves a significant reduction in computational complexity, requiring 69.8% less inference time compared to state-of-the-art (SOTA) methods, while outperforming most of them in accuracy.

DLTPose: 6DoF Pose Estimation From Accurate Dense Surface Point Estimates

We propose DLTPose, a novel method for 6DoF object pose estimation from RGB-D images that combines the accuracy of sparse keypoint methods with the robustness of dense pixel-wise predictions. DLTPose predicts per-pixel radial distances to a set of minimally four keypoints, which are then fed into our novel Direct Linear Transform (DLT) formulation to produce accurate 3D object frame surface estimates, leading to better 6DoF pose estimation. Additionally, we introduce a novel symmetry-aware keypoint ordering approach, designed to handle object symmetries that otherwise cause inconsistencies in keypoint assignments. Previous keypoint-based methods relied on fixed keypoint orderings, which failed to account for the multiple valid configurations exhibited by symmetric objects, which our ordering approach exploits to enhance the model's ability to learn stable keypoint representations. Extensive experiments on the benchmark LINEMOD, Occlusion LINEMOD and YCB-Video datasets show that DLTPose outperforms existing methods, especially for symmetric and occluded objects, demonstrating superior Mean Average Recall values of 86.5% (LM), 79.7% (LM-O) and 89.5% (YCB-V). The code is available at https://anonymous.4open.science/r/DLTPose_/ .

Learning Affine Correspondences by Integrating Geometric Constraints

Affine correspondences have received significant attention due to their benefits in tasks like image matching and pose estimation. Existing methods for extracting affine correspondences still have many limitations in terms of performance; thus, exploring a new paradigm is crucial. In this paper, we present a new pipeline designed for extracting accurate affine correspondences by integrating dense matching and geometric constraints. Specifically, a novel extraction framework is introduced, with the aid of dense matching and a novel keypoint scale and orientation estimator. For this purpose, we propose loss functions based on geometric constraints, which can effectively improve accuracy by supervising neural networks to learn feature geometry. The experimental show that the accuracy and robustness of our method outperform the existing ones in image matching tasks. To further demonstrate the effectiveness of the proposed method, we applied it to relative pose estimation. Affine correspondences extracted by our method lead to more accurate poses than the baselines on a range of real-world datasets. The code is available at https://github.com/stilcrad/DenseAffine.