Related papers: Reconstructing Interactive 3D Scenes by Panoptic M…
Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…
Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…
Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…
DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…
We investigate the possibility of 3D scene reconstruction from two or more overlapping webcam streams. A large, and growing, number of webcams observe places of interest and are publicly accessible. The question naturally arises: can we…
This project presents an exploration into 3D scene reconstruction of synthetic and real-world scenes using Neural Radiance Field (NeRF) approaches. We primarily take advantage of the reduction in training and rendering time of neural…
The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…
Decompositional reconstruction of 3D scenes, with complete shapes and detailed texture of all objects within, is intriguing for downstream applications but remains challenging, particularly with sparse views as input. Recent approaches…
Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…
3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose estimation and 3D reconstruction of objects. Current…
We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…
Accurately reconstructing complex full multi-object scenes from sparse observations remains a core challenge in computer vision and a key step toward scalable and reliable simulation for robotics. In this work, we introduce RecGen, a…
The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for…
Scene synthesis and editing has emerged as a promising direction in computer graphics. Current trained approaches for 3D indoor scene generation either oversimplify object semantics through one-hot class encodings (e.g., 'chair' or…
Embodied reasoning is inherently viewpoint-dependent: what is visible, occluded, or reachable depends critically on where the agent stands. However, existing spatial memory systems for embodied agents typically store either multi-view…
3D line mapping from multi-view RGB images provides a compact and structured visual representation of scenes. We study the problem from a physical and topological perspective: a 3D line most naturally emerges as the edge of a finite 3D…
Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, obtaining up-to-date spatial and semantically rich…
Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…
Volumetric depth map fusion based on truncated signed distance functions has become a standard method and is used in many 3D reconstruction pipelines. In this paper, we are generalizing this classic method in multiple ways: 1) Semantics:…
Human behaviors are the major causes of scene dynamics and inherently contain rich cues regarding the dynamics. This paper formalizes a new task of proactive scene decomposition and reconstruction, an online approach that leverages…