Amir Hamza

Amir Hamza, Badis Lekouaghet, Yassine Himeur

Timely identification and treatment of rapidly progressing skin cancers can significantly contribute to the preservation of patients' health and well-being. Dermoscopy, a dependable and accessible tool, plays a pivotal role in the initial stages of skin cancer detection. Consequently, the effective processing of digital dermoscopy images holds significant importance in elevating the accuracy of skin cancer diagnoses. Multilevel thresholding is a key tool in medical imaging that extracts objects within the image to facilitate its analysis. In this paper, an enhanced version of the Mud Ring Algorithm hybridized with the Whale Optimization Algorithm, named WMRA, is proposed. The proposed approach utilizes bubble-net attack and mud ring strategy to overcome stagnation in local optima and obtain optimal thresholds. The experimental results show that WMRA is powerful against a cluster of recent methods in terms of fitness, Peak Signal to Noise Ratio (PSNR), and Mean Square Error (MSE).

Amir Hamza, Davide Boscaini, Weihang Li et al.

Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in $\mathrm{SE}(3)$ or estimate it indirectly via local feature matching. The former struggle with object symmetries, while the latter fail in the absence of distinctive local features. To overcome these limitations, we propose a novel formulation of 6D pose estimation as a conditional flow matching problem in $\mathbb{R}^3$. We introduce Flose, a generative method that infers object poses via a denoising process conditioned on local features. While prior approaches based on conditional flow matching perform denoising solely based on geometric guidance, Flose integrates appearance-based semantic features to mitigate ambiguities caused by object symmetries. We further incorporate RANSAC-based registration to handle outliers. We validate Flose on five datasets from the established BOP benchmark. Flose outperforms prior methods with an average improvement of +4.5 Average Recall. Project Website : https://tev-fbk.github.io/Flose/

Amir Hamza, Andrea Caraffa, Davide Boscaini et al.

Three-dimensional local descriptors are crucial for encoding geometric surface properties, making them essential for various point cloud understanding tasks. Among these descriptors, GeDi has demonstrated strong zero-shot 6D pose estimation capabilities but remains computationally impractical for real-world applications due to its expensive inference process. Can we retain GeDi's effectiveness while significantly improving its efficiency? In this paper, we explore this question by introducing a knowledge distillation framework that trains an efficient student model to regress local descriptors from a GeDi teacher. Our key contributions include: an efficient large-scale training procedure that ensures robustness to occlusions and partial observations while operating under compute and storage constraints, and a novel loss formulation that handles weak supervision from non-distinctive teacher descriptors. We validate our approach on five BOP Benchmark datasets and demonstrate a significant reduction in inference time while maintaining competitive performance with existing methods, bringing zero-shot 6D pose estimation closer to real-time feasibility. Project Website: https://tev-fbk.github.io/dGeDi/