Related papers: Geometry-Informed Material Recognition

Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a…

Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…

The recent surge in the adoption of machine learning techniques for materials design, discovery, and characterization has resulted in an increased interest and application of Image Driven Machine Learning (IDML) approaches. In this work, we…

Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…

Effective building pattern recognition is critical for understanding urban form, automating map generalization, and visualizing 3D city models. Most existing studies use object-independent methods based on visual perception rules and…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

In the globalized economic world, it has become important to understand the purpose behind infrastructural and construction initiatives occurring within developing regions of the earth. This is critical when the financing for such projects…

The movie and video game industries have adopted photogrammetry as a way to create digital 3D assets from multiple photographs of a real-world scene. But photogrammetry algorithms typically output an RGB texture atlas of the scene that only…

With the rapid development of high-resolution 3D vision applications, the traditional way of manipulating surface detail requires considerable memory and computing time. To address these problems, we introduce an efficient surface detail…

Geometric understanding - including depth and height perception - is fundamental to intelligence and crucial for navigating our environment. Despite the impressive capabilities of large Vision Language Models (VLMs), it remains unclear how…

3D point clouds of natural environments relevant to problems in geomorphology often require classification of the data into elementary relevant classes. A typical example is the separation of riparian vegetation from ground in fluvial…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Artificial objects usually have very stable shape features, which are stable, persistent properties in geometry. They can provide evidence for object recognition. Shape features are more stable and more distinguishing than appearance…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…

3D-aware image synthesis aims at learning a generative model that can render photo-realistic 2D images while capturing decent underlying 3D shapes. A popular solution is to adopt the generative adversarial network (GAN) and replace the…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

Faithful manipulation of shape, material, and illumination in 2D Internet images would greatly benefit from a reliable factorization of appearance into material (i.e., diffuse and specular) and illumination (i.e., environment maps). On the…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Current 3D inpainting and object removal methods are largely limited to front-facing scenes, facing substantial challenges when applied to diverse, "unconstrained" scenes where the camera orientation and trajectory are unrestricted. To…