Related papers: Predicting the Next Best View for 3D Mesh Refineme…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
We study the problem of shape generation in 3D mesh representation from a few color images with known camera poses. While many previous works learn to hallucinate the shape directly from priors, we resort to further improving the shape…
Image-based 3D reconstruction has increasingly stunning results over the past few years with the latest improvements in computer vision and graphics. Geometry and topology are two fundamental concepts when dealing with 3D mesh structures.…
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent…
Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…
The vast majority of mesh-based modelling applications iteratively transform the mesh vertices under prescribed geometric conditions. This occurs in particular in methods cycling through the constraint set such as Position-Based Dynamics…
Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
Recovering 3D human mesh from monocular images is a popular topic in computer vision and has a wide range of applications. This paper aims to estimate 3D mesh of multiple body parts (e.g., body, hands) with large-scale differences from a…
3D human pose estimation involves reconstructing the human skeleton by detecting the body joints. Accurate and efficient solutions are required for several real-world applications including animation, human-robot interaction, surveillance,…
A mesh improvement methodology is pre- sented which aims to improve the quality of the worst elements in 3D meshes with non-planar surfaces which cannot be improved using traditional methods. A nu- merical optimisation algorithm, which…
We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…
This paper is about reducing the cost of building good large-scale 3D reconstructions post-hoc. We render 2D views of an existing reconstruction and train a convolutional neural network (CNN) that refines inverse-depth to match a…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to significantly improve the efficiency of object capture and reconstruction. Existing methods for determining the NBV often overlook view…
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
The task of reconstructing detailed 3D human body models from images is interesting but challenging in computer vision due to the high freedom of human bodies. In order to tackle the problem, we propose a coarse-to-fine method to…
Estimating the 3D shape of an object from a single or multiple images has gained popularity thanks to the recent breakthroughs powered by deep learning. Most approaches regress the full object shape in a canonical pose, possibly…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…