Xiaoying Sun | Searcharxiv

arXiv2026

MAPRPose: Mask-Aware Proposal and Amodal Refinement for Multi-Object 6D Pose Estimation

6D object pose estimation in cluttered scenes remains challenging due to severe occlusion and sensor noise. We propose MAPRPose, a two-stage framework that leverages mask-aware correspondences for pose proposal and amodal-driven Region-of-Interest (ROI) prediction for robust refinement. In the Mask-Aware Pose Proposal (MAPP) stage, we lift 2D correspondences into 3D space to establish reliable keypoint matches and generate geometrically consistent pose hypotheses based on correspondence-level scoring, from which the top-$K$ candidates are selected. In the refinement stage, we introduce a tensorized render-and-compare pipeline integrated with an Amodal Mask Prediction and ROI Re-Alignment (AMPR) module. By reconstructing complete object geometry and dynamically adjusting the ROI, AMPR mitigates localization errors and spatial misalignment under heavy occlusion. Furthermore, our GPU-accelerated RGB-XYZ reprojection enables simultaneous refinement of all $N \times B$ pose hypotheses in a single forward pass.

cs.CV↗

arXiv2020

Penalized composite likelihood for colored graphical Gaussian models

This paper proposes a penalized composite likelihood method for model selection in colored graphical Gaussian models. The method provides a sparse and symmetry-constrained estimator of the precision matrix, and thus conducts model selection and precision matrix estimation simultaneously. In particular, the method uses penalty terms to constrain the elements of the precision matrix, which enables us to transform the model selection problem into a constrained optimization problem. Further, computer experiments are conducted to illustrate the performance of the proposed new methodology. It is shown that the proposed method performs well in both the selection of nonzero elements in the precision matrix and the identification of symmetry structures in graphical models. The feasibility and potential clinical application of the proposed method are demonstrated on a microarray gene expression data set.

stat.ME↗