Related papers: Efficient Plane-Based Optimization of Geometry and…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

Surface reconstruction with preservation of geometric features is a challenging computer vision task. Despite significant progress in implicit shape reconstruction, state-of-the-art mesh extraction methods often produce aliased,…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

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…

We propose a deep inverse rendering framework for indoor scenes. From a single RGB image of an arbitrary indoor scene, we create a complete scene reconstruction, estimating shape, spatially-varying lighting, and spatially-varying,…

In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…

3D Gaussian Splatting reconstructs scenes by starting from a sparse Structure-from-Motion initialization and refining under-reconstructed regions. This process is slow, as it requires multiple densification steps where Gaussians are…

Modern 3D engines and graphics pipelines require mesh as a memory-efficient representation, which allows efficient rendering, geometry processing, texture editing, and many other downstream operations. However, it is still highly difficult…

Despite the potential of neural scene representations to effectively compress 3D scalar fields at high reconstruction quality, the computational complexity of the training and data reconstruction step using scene representation networks…

This paper presents TexRO, a novel method for generating delicate textures of a known 3D mesh by optimizing its UV texture. The key contributions are two-fold. We propose an optimal viewpoint selection strategy, that finds the most…

We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…

Dense indoor scene modeling from 2D images has been bottlenecked due to the absence of depth information and cluttered occlusions. We present an automatic indoor scene modeling approach using deep features from neural networks. Given a…

We present a set of rules to guide the design of GPU algorithms. These rules are grounded on the principle of reducing waste in GPU utility to achieve good speed up. In accordance to these rules, we propose GPU algorithms for 2D…

Given only a set of images, neural implicit surface representation has shown its capability in 3D surface reconstruction. However, as the nature of per-scene optimization is based on the volumetric rendering of color, previous neural…

We propose Neural-DynamicReconstruction (NDR), a template-free method to recover high-fidelity geometry and motions of a dynamic scene from a monocular RGB-D camera. In NDR, we adopt the neural implicit function for surface representation…

Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

With the support of Virtual Reality (VR) and Augmented Reality (AR) technologies, the 3D virtual eyeglasses try-on application is well on its way to becoming a new trending solution that offers a "try on" option to select the perfect pair…

The introduction of the neural implicit representation has notably propelled the advancement of online dense reconstruction techniques. Compared to traditional explicit representations, such as TSDF, it improves the mapping completeness and…

Reconstructing physically stable 3D scenes from a single RGB image enables casual images to be converted into simulation-ready digital assets for applications such as immersive interaction and content creation. However, existing…