Related papers: FroDO: From Detections to 3D Objects

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

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…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

Reconstructing detailed 3D scenes from single-view images remains a challenging task due to limitations in existing approaches, which primarily focus on geometric shape recovery, overlooking object appearances and fine shape details. To…

In this paper a semi-supervised deep framework is proposed for the problem of 3D shape inverse rendering from a single 2D input image. The main structure of proposed framework consists of unsupervised pre-trained components which…

For visual manipulation tasks, we aim to represent image content with semantically meaningful features. However, learning implicit representations from images often lacks interpretability, especially when attributes are intertwined. We…

Referring video object segmentation (RVOS) aims to segment target objects throughout a video based on a text description. This is challenging as it involves deep vision-language understanding, pixel-level dense prediction and spatiotemporal…

Existing state-of-the-art methods for Video Object Segmentation (VOS) learn low-level pixel-to-pixel correspondences between frames to propagate object masks across video. This requires a large amount of densely annotated video data, which…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

Camera pose estimation in known scenes is a 3D geometry task recently tackled by multiple learning algorithms. Many regress precise geometric quantities, like poses or 3D points, from an input image. This either fails to generalize to new…

We address the novel task of jointly reconstructing the 3D shape, texture, and motion of an object from a single motion-blurred image. While previous approaches address the deblurring problem only in the 2D image domain, our proposed…

We present a novel method, called NeTO, for capturing 3D geometry of solid transparent objects from 2D images via volume rendering. Reconstructing transparent objects is a very challenging task, which is ill-suited for general-purpose…

A fully automated object reconstruction pipeline is crucial for digital content creation. While the area of 3D reconstruction has witnessed profound developments, the removal of background to obtain a clean object model still relies on…