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With the growing incorporation of deep neural network (DNN) models into modern software systems, the prohibitive construction costs have become a significant challenge. Model reuse has been widely applied to reduce training costs, but…
With the progress of 3D human pose and shape estimation, state-of-the-art methods can either be robust to occlusions or obtain pixel-aligned accuracy in non-occlusion cases. However, they cannot obtain robustness and mesh-image alignment at…
Learning neural implicit surfaces from volume rendering has become popular for multi-view reconstruction. Neural surface reconstruction approaches can recover complex 3D geometry that are difficult for classical Multi-view Stereo (MVS)…
Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…
We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…
3D generative modeling is accelerating as the technology allowing the capture of geometric data is developing. However, the acquired data is often inconsistent, resulting in unregistered meshes or point clouds. Many generative learning…
We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…
The challenges of learning a robust 6D pose function lie in 1) severe occlusion and 2) systematic noises in depth images. Inspired by the success of point-pair features, the goal of this paper is to recover the 6D pose of an object instance…
Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…
A key challenge in the task of human pose and shape estimation is occlusion, including self-occlusions, object-human occlusions, and inter-person occlusions. The lack of diverse and accurate pose and shape training data becomes a major…
This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…
Learning articulated object pose is inherently difficult because the pose is high dimensional but has many structural constraints. Most existing work do not model such constraints and does not guarantee the geometric validity of their pose…
In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…
In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…
Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
Building good 3D maps is a challenging and expensive task, which requires high-quality sensors and careful, time-consuming scanning. We seek to reduce the cost of building good reconstructions by correcting views of existing low-quality…
Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…
Referring Image Segmentation is a comprehensive task to segment an object referred by a textual query from an image. In nature, the level of difficulty in this task is affected by the existence of similar objects and the complexity of the…
The ability to perceive and understand 3D scenes is crucial for many applications in computer vision and robotics. Inverse graphics is an appealing approach to 3D scene understanding that aims to infer the 3D scene structure from 2D images.…