Model-free unseen object detection that reconstructs objects as 3D Gaussians from onboarding videos and matches SAM proposals to rendered templates with DINOv2, reaching 31.9% AP on BOP-H3 without CAD models.
3d gaussian splatting for real-time radiance field rendering
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GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024
Model-free unseen object detection that reconstructs objects as 3D Gaussians from onboarding videos and matches SAM proposals to rendered templates with DINOv2, reaching 31.9% AP on BOP-H3 without CAD models.