Decomposing outgoing surface radiance into material and illumination during inverse rendering is essential for applications such as relighting and augmented reality, yet it is severely ill-posed since multiple combinations can result in the same observed colour. Capturing an obje…
Comparing object orientations and positions across different instances requires their poses to be expressed in a shared canonical frame. Establishing such frames has traditionally required manual annotation, creating a scaling bottleneck that limits category and instance diversit…