  Towards flexible object-centric visual perception, we propose a one-shot
instance-aware object keypoint (OKP) extraction approach, AnyOKP, which
leverages the powerful representation ability of pretrained vision transformer
(ViT), and can obtain keypoints on multiple object instances of arbitrary
category after learning from a support image. An off-the-shelf petrained ViT is
directly deployed for generalizable and transferable feature extraction, which
is followed by training-free feature enhancement. The best-prototype pairs
(BPPs) are searched for in support and query images based on appearance
similarity, to yield instance-unaware candidate keypoints.Then, the entire
graph with all candidate keypoints as vertices are divided to sub-graphs
according to the feature distributions on the graph edges. Finally, each
sub-graph represents an object instance. AnyOKP is evaluated on real object
images collected with the cameras of a robot arm, a mobile robot, and a
surgical robot, which not only demonstrates the cross-category flexibility and
instance awareness, but also show remarkable robustness to domain shift and
viewpoint change.
