Estimating the 6D pose of an object from a single RGB image is a critical task that becomes additionally challenging when dealing with symmetric objects. Recent approaches typically establish one-to-one correspondences between image pixels and 3D object surface vertices. However, the utilization of one-to-one correspondences introduces ambiguity for symmetric objects. To address this, we propose SymCode, a symmetry-aware surface encoding that encodes the object surface vertices based on one-to-many correspondences, eliminating the problem of one-to-one correspondence ambiguity. We also introduce SymNet, a fast end-to-end network that directly regresses the 6D pose parameters without solving a PnP problem. We demonstrate faster runtime and comparable accuracy achieved by our method on the T-LESS and IC-BIN benchmarks of mostly symmetric objects. The code is available at https://github.com/lyltc1/SymNet.

Chinese spelling correction (CSC) aims to detect and correct spelling errors in Chinese texts. Most spelling errors are phonetically or graphically similar to the correct ones. Thus, recent works introduce multimodal features to obtain achievements. In this paper, we found that different spelling errors have various biases to each modality, highlighting the importance of appropriately exploiting multimodal features. To achieve this goal, we propose the UGMSC framework, which incorporates uncertainty into both the feature learning and correction stages. Specifically, the UGMSC framework makes predictions with multimodal features and estimates the uncertainty of the corresponding modalities. Then it dynamically fuses the features of all modalities for model learning, and performs spelling correction under the uncertainty-guided strategy. Experimental results on three public datasets demonstrate that the proposed approach provides a significant improvement compared with previous strong multimodal models. The proposed framework is model-agnostic and can be easily applied to other multimodal models.

In this work, we present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image. While many existing data-driven methods achieve impressive performance, they tend to be time-consuming due to their reliance on rendering-based refinement approaches. To circumvent this limitation, we present HiPose, which establishes 3D-3D correspondences in a coarse-to-fine manner with a hierarchical binary surface encoding. Unlike previous dense-correspondence methods, we estimate the correspondence surface by employing point-to-surface matching and iteratively constricting the surface until it becomes a correspondence point while gradually removing outliers. Extensive experiments on public benchmarks LM-O, YCB-V, and T-Less demonstrate that our method surpasses all refinement-free methods and is even on par with expensive refinement-based approaches. Crucially, our approach is computationally efficient and enables real-time critical applications with high accuracy requirements.