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An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Efficiently reconstructing complex and intricate surfaces at scale is a long-standing goal in machine perception. To address this problem we introduce Deep Local Shapes (DeepLS), a deep shape representation that enables encoding and…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

We present a descriptor, called fully convolutional self-similarity (FCSS), for dense semantic correspondence. To robustly match points among different instances within the same object class, we formulate FCSS using local self-similarity…

Keypoint detection is a pivotal step in 3D reconstruction, whereby sets of (up to) K points are detected in each view of a scene. Crucially, the detected points need to be consistent between views, i.e., correspond to the same 3D point in…

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…

Generalizable dense feature matching in endoscopic images is crucial for robot-assisted tasks, including 3D reconstruction, navigation, and surgical scene understanding. Yet, it remains a challenge due to difficult visual conditions (e.g.,…

Recent research on learned visual descriptors has shown promising improvements in correspondence estimation, a key component of many 3D vision tasks. However, existing descriptor learning frameworks typically require ground-truth…

Image keypoints and descriptors play a crucial role in many visual measurement tasks. In recent years, deep neural networks have been widely used to improve the performance of keypoint and descriptor extraction. However, the conventional…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires sequential data from…

We present a minimalistic but effective neural network that computes dense facial correspondences in highly unconstrained RGB images. Our network learns a per-pixel flow and a matchability mask between 2D input photographs of a person and…

We present a novel learning-based approach for computing correspondences between non-rigid 3D shapes. Unlike previous methods that either require extensive training data or operate on handcrafted input descriptors and thus generalize poorly…

Deep learning applied to the reconstruction of 3D shapes has seen growing interest. A popular approach to 3D reconstruction and generation in recent years has been the CNN encoder-decoder model usually applied in voxel space. However, this…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

Reconstructing accurate 3D surface models of sinus anatomy directly from an endoscopic video is a promising avenue for cross-sectional and longitudinal analysis to better understand the relationship between sinus anatomy and surgical…

We present a new deep learning approach for matching deformable shapes by introducing {\it Shape Deformation Networks} which jointly encode 3D shapes and correspondences. This is achieved by factoring the surface representation into (i) a…