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Semantic segmentation techniques for extracting building footprints from high-resolution remote sensing images have been widely used in many fields such as urban planning. However, large-scale building extraction demands higher diversity in…

We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Nowadays, the need for user editing in a 3D scene has rapidly increased due to the development of AR and VR technology. However, the existing 3D scene completion task (and datasets) cannot suit the need because the missing regions in scenes…

We propose a method at the intersection of Computer Vision and Computer Graphics fields, which automatically generates RGBD images using neural networks, based on previously seen and synchronized video, depth and pose signals. Since the…

This paper focuses on perceiving and navigating 3D environments using echoes and RGB image. In particular, we perform depth estimation by fusing RGB image with echoes, received from multiple orientations. Unlike previous works, we go beyond…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

Neural radiance fields (NeRF) and its subsequent variants have led to remarkable progress in neural rendering. While most of recent neural rendering works focus on objects and small-scale scenes, developing neural rendering methods for…

Taking advantage of an event-based camera, the issues of motion blur, low dynamic range and low time sampling of standard cameras can all be addressed. However, there is a lack of event-based datasets dedicated to the benchmarking of…

Recognizing arbitrary or previously unseen categories is essential for comprehensive real-world 3D scene understanding. Currently, all existing methods rely on 2D or textual modalities during training or together at inference. This…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

Datasets have gained an enormous amount of popularity in the computer vision community, from training and evaluation of Deep Learning-based methods to benchmarking Simultaneous Localization and Mapping (SLAM). Without a doubt, synthetic…

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…

We propose a new cascaded architecture for novel view synthesis, called RGBD-Net, which consists of two core components: a hierarchical depth regression network and a depth-aware generator network. The former one predicts depth maps of the…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

Answering questions about the spatial properties of the environment poses challenges for existing language and vision foundation models due to a lack of understanding of the 3D world notably in terms of relationships between objects. To…

We present a method for creating 3D indoor scenes with a generative model learned from a collection of semantic-segmented depth images captured from different unknown scenes. Given a room with a specified size, our method automatically…