Related papers: Real-time 3D scene description using Spheres, Cone…
We live in a 3D world, performing activities and interacting with objects in the indoor environments everyday. Indoor scenes are the most familiar and essential environments in everyone's life. In the virtual world, 3D indoor scenes are…
Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…
We present CIRCLE, a framework for large-scale scene completion and geometric refinement based on local implicit signed distance functions. It is based on an end-to-end sparse convolutional network, CircNet, that jointly models local…
We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…
We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
Deep convolutional networks are widely used in video action recognition. 3D convolutions are one prominent approach to deal with the additional time dimension. While 3D convolutions typically lead to higher accuracies, the inner workings of…
Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…
Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. To this end, we propose the task of joint 3D human semantic segmentation, instance segmentation and…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…
We present a technique for rendering highly complex 3D scenes in real-time by generating uniformly distributed points on the scene's visible surfaces. The technique is applicable to a wide range of scene types, like scenes directly based on…
Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…
Many compelling video processing effects can be achieved if per-pixel depth information and 3D camera calibrations are known. However, the success of such methods is highly dependent on the accuracy of this "scene-space" information. We…
Human-centric 3D scene understanding has recently drawn increasing attention, driven by its critical impact on robotics. However, human-centric real-life scenarios are extremely diverse and complicated, and humans have intricate motions and…
We present SuperDec, an approach for creating compact 3D scene representations via decomposition into superquadric primitives. While most recent works leverage geometric primitives to obtain photorealistic 3D scene representations, we…
We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…
Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…