Related papers: Symmetric Non-Rigid Structure from Motion for Cate…
Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally,…
Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However,…
We propose MHR-Net, a novel method for recovering Non-Rigid Shapes from Motion (NRSfM). MHR-Net aims to find a set of reasonable reconstructions for a 2D view, and it also selects the most likely reconstruction from the set. To deal with…
This work addresses the problem of recovering complete, simulatable object geometry from reconstructed real-world scenes, enabling physics-based interaction with objects embedded in the scene. While modern multi-view reconstruction methods…
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…
Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…
We present a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene. An RGB-D frame is represented as a collection of features, which are points and planes. We classify the features into static…
3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…
We explore the potential of our novel triaxial modeling machinery in recovering the viewing angles, the shape and the orbit distribution of galaxies by using a high-resolution $N$-body merger simulation. Our modelling technique includes…
We propose a novel approach for unsupervised 3D animation of non-rigid deformable objects. Our method learns the 3D structure and dynamics of objects solely from single-view RGB videos, and can decompose them into semantically meaningful…
A simple prior free factorization algorithm \cite{dai2014simple} is quite often cited work in the field of Non-Rigid Structure from Motion (NRSfM). The benefit of this work lies in its simplicity of implementation, strong theoretical…
In this paper, using 1+1D models as examples, we study symmetries and anomalous symmetries via multi-component partition functions obtained through symmetry twists, and their transformations under the mapping class group of spacetime. This…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Capturing the shape and spatially-varying appearance (SVBRDF) of an object from images is a challenging task that has applications in both computer vision and graphics. Traditional optimization-based approaches often need a large number of…
Symmetries and isomorphisms play similar conceptual roles when we consider how models represent physical situations, but they are formally distinct, as two models related by symmetries are not typically isomorphic. I offer a rigorous…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
Scene understanding from images is a challenging problem encountered in autonomous driving. On the object level, while 2D methods have gradually evolved from computing simple bounding boxes to delivering finer grained results like instance…