Related papers: Surface Segmentation Using Implicit Divergence Con…

Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smooth in degenerate configurations of shapes with zero or…

This paper addresses the problem of reconstructing the surface shape of transparent objects. The difficulty of this problem originates from the viewpoint dependent appearance of a transparent object, which quickly makes reconstruction…

The surface reconstruction problem from sets of planar parallel slices representing cross sections through 3D objects is presented. The final result of surface reconstruction is always based on the correct estimation of the structure of the…

Reconstructing object geometry and material from multiple views typically requires optimization. Differentiable path tracing is an appealing framework as it can reproduce complex appearance effects. However, it is difficult to use due to…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by…

In this paper, we propose to use the eikonal equation as a boundary condition when advective or normal flow equations in the level set formulation are solved numerically on polyhedral meshes in the three-dimensional domain. Since the level…

Encoding 3D points is one of the primary steps in learning-based implicit scene representation. Using features that gather information from neighbors with multi-resolution grids has proven to be the best geometric encoder for this task.…

We present two approximate versions of the proximal subgradient method for minimizing the sum of two convex functions (not necessarily differentiable). The algorithms involve, at each iteration, inexact evaluations of the proximal operator…

In moving camera videos, motion segmentation is commonly performed using the image plane motion of pixels, or optical flow. However, objects that are at different depths from the camera can exhibit different optical flows even if they share…

We consider the problem of finding an optimal 3D road trajectory between two points on a terrain with variable elevation. Unlike common heuristic pathfinding methods, we propose a rigorous framework based on the calculus of variations,…

We propose a new subgradient method for the minimization of nonsmooth convex functions over a convex set. To speed up computations we use adaptive approximate projections only requiring to move within a certain distance of the exact…

Achieving a consistent and compact 3D segmentation field is crucial for maintaining semantic coherence across views and accurately representing scene structures. Previous 3D scene segmentation methods rely on video segmentation models to…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

Abstraction is a successful technique in software verification, and interpolation on infeasible error paths is a successful approach to automatically detect the right level of abstraction in counterexample-guided abstraction refinement.…

Conventional rendering techniques are primarily designed and optimized for single-frame rendering. In practical applications, such as scene editing and animation rendering, users frequently encounter scenes where only a small portion is…

We present a new learning-based framework S-3D-RCNN that can recover accurate object orientation in SO(3) and simultaneously predict implicit rigid shapes from stereo RGB images. For orientation estimation, in contrast to previous studies…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

Modern computer vision algorithms have brought significant advancement to 3D geometry reconstruction. However, illumination and material reconstruction remain less studied, with current approaches assuming very simplified models for…

Selective segmentation is an important application of image processing. In contrast to global segmentation in which all objects are segmented, selective segmentation is used to isolate specific objects in an image and is of particular…