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Scene understanding is an active research area. Commercial depth sensors, such as Kinect, have enabled the release of several RGB-D datasets over the past few years which spawned novel methods in 3D scene understanding. More recently with…

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

We study the problem of synthesizing immersive 3D indoor scenes from one or more images. Our aim is to generate high-resolution images and videos from novel viewpoints, including viewpoints that extrapolate far beyond the input images while…

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

Recent advances on 6D object pose estimation have achieved high performance on representative benchmarks such as LM-O, YCB-V, and T-Less. However, these datasets were captured under fixed illumination and camera settings, leaving the impact…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes…

Depth information available from an RGB-D camera can be useful in segmenting salient objects when figure/ground cues from RGB channels are weak. This has motivated the development of several RGB-D saliency datasets and algorithms that use…

RGB-D object tracking has attracted considerable attention recently, achieving promising performance thanks to the symbiosis between visual and depth channels. However, given a limited amount of annotated RGB-D tracking data, most…

A key algorithm for understanding the world is material segmentation, which assigns a label (metal, glass, etc.) to each pixel. We find that a model trained on existing data underperforms in some settings and propose to address this with a…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…

We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for…

We address the challenge of recovering an underlying scene geometry and colors from a sparse set of RGBD view observations. In this work, we present a new solution termed RGBD$^2$ that sequentially generates novel RGBD views along a camera…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

Building recognition and 3D reconstruction of human made structures in urban scenarios has become an interesting and actual topic in the image processing domain. For this research topic the Computer Vision and Augmented Reality areas…