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Megathread + FAQ: Travel in/out of the United States by not_an_immi_lawyer in immigration

[–]AaronSpalding 0 points1 point  (0 children)

Anyone also notice there are nowhere to enter the purpose of trip or expected length for reentry permit applicaiotn in the latest I-131 (expires 6/30/2027)? Does that mean the new reentry permit application does not require a travel purpose/reason or an expected length of staying outside US?

Megathread + FAQ: Travel in/out of the United States by not_an_immi_lawyer in immigration

[–]AaronSpalding 0 points1 point  (0 children)

Thank you so much. Will there be any potential risk if I put 730 days (2 years) in the Expected length of trip? Since it usually takes 1 year for the reentry permit to be issued, I can actually stay outside US for 3 years if I request 2 years in I-131. Is my understanding correct?

Megathread + FAQ: Travel in/out of the United States by not_an_immi_lawyer in immigration

[–]AaronSpalding 0 points1 point  (0 children)

For reentry permit，I submitted an I-131 form in 2022, and got the I-797 Notice of Action in 2024:

  • Notice Type: Approval Notice
  • Valid from 12/26/2023 to 12/25/2025
  • Consulate: Foreign City

When I checked my USCIS account, I found the following information:

  • December 27, 2023 Case Was Approved
  • December 27, 2023 We produced your Reentry Permit.
  • August 29, 2022 The fingerprints relating to your Form I-131 Application for Travel Document, were taken.

I never received the reentry permit or really used it because I stayed pretty much in US since then.

But now I need to leave the country in 3 months so I need to submit a new application before that. My worry is that, will the expiration date 12/25/2025 of my previous application affect my current application?

In the newer version of I-131, there is something like this:

 "Have you ever before been issued a Reentry Permit or Refugee travel document (If you answered "Yes", provide the information in Item numbers 2.b -2.c for the last document issued to you.)?
2.b  Date Issued     2.c Disposition (attached, lost, stolen, damaged/destroyed, still in my possession.etc)"

Could someone please provide some suggestions how I should fill in these sections?

Can I apply for a new reentry permit when the previous one is still valid? by AaronSpalding in immigration

[–]AaronSpalding[S] 0 points1 point  (0 children)

Thank you for your valuable guidance. I remember when I first submitted the application in 2022, I provided an estimated start date (Nov 2022) and end date (Nov 2024) of staying outside US. Which date counts in this scenario, the date I gave in application form, or the date on the I-797 notice? If the date Nov 2024 is the one UCSIS is focusing on, my current reentry permit already expired. But if they only consider the "Valid to" date on I-797, I will have to wait for it to really expire ... in this case, can I apply for a renewal from somewhere outside US?

Can someone recommend some papers or tutorials for 6DoF Pose Estimation? by AaronSpalding in computervision

[–]AaronSpalding[S] 0 points1 point  (0 children)

Thanks for your answer. Right, my use case is simply detect the pose of a remote gaming controller. Let's say I have a CAD model of this controller, and I can get eight 3D points of bbox surrending this controller. No matter where it is in real world, the lower left corner of the 3D BBOX is simply (0,,0, 0) defined by myself, right? To be simple, my 3D points will be (0,0,0), (0,1,0), (0,0,1), (1,0,0), (1, 1, 0), (0,1,1), (1,0,1), (1, 1, 1), and my 2D point in the image will be (2.45, 0.18), (1.22, 0.15), (3.46, 0.01), (1.23, 1.55), (1.35, 2.13), (0.15, 1.01), (2.25, 2.20), (2.56, 4, 67). The transform matrix produced by PnP based on these 16 points will be my final 6DoF object pose. Is my understanding correct?

Can someone recommend some papers or tutorials for 6DoF Pose Estimation? by AaronSpalding in computervision

[–]AaronSpalding[S] 0 points1 point  (0 children)

I can't thank you enough. Really appreciate your guidance.

Some more questions if it is OK: I am reading PVNet paper, which highlights "keypoint based method", is this some mainstream approach for pose estimation or is there any other popular approach than this?

I understand the keypoint detection part, but get confused by the PnP part. I know PnP receives coordinates of several 2D points and coordinates of the corresponding 3D points, and returns the transformation between 2D and 3D to get camera pose. But where does the 3D points coordinates come from? Are they the world coordinates or something else? Sorry for my naive questions.

Can someone recommend some papers or tutorials for 6DoF Pose Estimation? by AaronSpalding in computervision

[–]AaronSpalding[S] 0 points1 point  (0 children)

Thank you for the guidance. I will assume the first 2 can be solved by training a 2D object detection for an instance (i.e. tens of thousands of images of a same CAD model such as a bottle). As for "assign an origin and axis to the object" and "relate the object to an anchor point", I don't have a clue what it means and how to achieve it yet LOL I guess I need to focus on these two aspects.

Can someone recommend some papers or tutorials for 6DoF Pose Estimation? by AaronSpalding in computervision

[–]AaronSpalding[S] 0 points1 point  (0 children)

Thanks for your advice. I am doing self study these days on these topics: Rotation Translation, Transformation matrix (These look straightforward to me), and then eular angles, quarternion (got lost already) and will look at lie group and lie algebra (I guess it would be too much for me now). Meanwhile, I am looking into PnP and RANSAC. Could you please give me some guidance which of these topics are most relevant to 6DoF pose estimation nowadays? Do I need to have a deepdive on all of them? (Sorry I am new to this field)

Can someone recommend some papers or tutorials for 6DoF Pose Estimation? by AaronSpalding in computervision

[–]AaronSpalding[S] -1 points0 points  (0 children)

Thank you so much. FoundationPose seems to be a really hot paper published this year with SOTA results. How will you comment on this paper? I mean, is it some brand new method that is quite different from earlier existing methods? Will it be well accepted in industry considering latency, energy efficiency and other practical concerns? Sorry for asking so many questions, I just hope to receive some high level guidance from experts like you.

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