Related papers: Joint 3D Reconstruction of a Static Scene and Movi…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

With the popularity of monocular videos generated by video sharing and live broadcasting applications, reconstructing and editing dynamic scenes in stationary monocular cameras has become a special but anticipated technology. In contrast to…

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…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We propose a method to build in real-time animated 3D head models using a consumer-grade RGB-D camera. Our proposed method is the first one to provide simultaneously comprehensive facial motion tracking and a detailed 3D model of the user's…

Scene and object reconstruction is an important problem in robotics, in particular in planning collision-free trajectories or in object manipulation. This paper compares two strategies for the reconstruction of nonvisible parts of the…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

Volumetric reconstruction of dynamic scenes is an important problem in computer vision. It is especially challenging in poor lighting and with fast motion. This is partly due to limitations of RGB cameras: To capture frames under low…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between…

Reconstructing models of the real world, including 3D geometry, appearance, and motion of real scenes, is essential for computer graphics and computer vision. It enables the synthesizing of photorealistic novel views, useful for the movie…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

This paper presents an effective method for generating a spatiotemporal (time-varying) texture map for a dynamic object using a single RGB-D camera. The input of our framework is a 3D template model and an RGB-D image sequence. Since there…