Related papers: Higher Order Function Networks for View Planning a…
The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…
Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional…
Recent advances in 3D human shape reconstruction from single images have shown impressive results, leveraging on deep networks that model the so-called implicit function to learn the occupancy status of arbitrarily dense 3D points in space.…
Reconstructing 3D human heads in low-view settings presents technical challenges, mainly due to the pronounced risk of overfitting with limited views and high-frequency signals. To address this, we propose geometry decomposition and adopt a…
This paper addresses the problem of reconstructing a scene online at the level of objects given an RGB-D video sequence. While current object-aware neural implicit representations hold promise, they are limited in online reconstruction…
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 build upon the functional object-oriented network (FOON), a structured knowledge representation which is constructed from observations of human activities and manipulations. A FOON can be used for representing object-motion affordances.…
Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…
We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…
We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…
We introduce AutoRF - a new approach for learning neural 3D object representations where each object in the training set is observed by only a single view. This setting is in stark contrast to the majority of existing works that leverage…
Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…
As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
Deep learning technology has made great progress in multi-view 3D reconstruction tasks. At present, most mainstream solutions establish the mapping between views and shape of an object by assembling the networks of 2D encoder and 3D decoder…
In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…
Hashing is an efficient method for nearest neighbor search in large-scale data space by embedding high-dimensional feature descriptors into a similarity preserving Hamming space with a low dimension. However, large-scale high-speed…
We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…
Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…