Related papers: 3DP3: 3D Scene Perception via Probabilistic Progra…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

In this paper, we propose a probabilistic method to generate abstract scene graphs for table-top scenes from 6D object pose estimates. We explicitly make use of task-specfic context knowledge by encoding this knowledge as descriptive rules…

In this work, we introduce OpenIns3D, a new 3D-input-only framework for 3D open-vocabulary scene understanding. The OpenIns3D framework employs a "Mask-Snap-Lookup" scheme. The "Mask" module learns class-agnostic mask proposals in 3D point…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

Monocular 3D object detection is a crucial and challenging task for autonomous driving vehicle, while it uses only a single camera image to infer 3D objects in the scene. To address the difficulty of predicting depth using only pictorial…

Current 3D inpainting and object removal methods are largely limited to front-facing scenes, facing substantial challenges when applied to diverse, "unconstrained" scenes where the camera orientation and trajectory are unrestricted. To…

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects…

We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

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…

We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose and shape of the object despite intra-class variability…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…