Related papers: 3D object reconstruction and 6D-pose estimation fr…
Image-based 3D object modeling refers to the process of converting raw optical images to 3D digital representations of the objects. Very often, such models are desired to be dimensionally true, semantically labeled with photorealistic…
Inferring the 3D shape of an object from an RGB image has shown impressive results, however, existing methods rely primarily on recognizing the most similar 3D model from the training set to solve the problem. These methods suffer from poor…
Given a single scene image, this paper proposes a method of Category-level 6D Object Pose and Size Estimation (COPSE) from the point cloud of the target object, without external real pose-annotated training data. Specifically, beyond the…
Numerous techniques have been proposed for reconstructing 3D models for opaque objects in past decades. However, none of them can be directly applied to transparent objects. This paper presents a fully automatic approach for reconstructing…
Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…
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…
We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…
Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
We present Image Sculpting, a new framework for editing 2D images by incorporating tools from 3D geometry and graphics. This approach differs markedly from existing methods, which are confined to 2D spaces and typically rely on textual…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
We present a novel method for reconstructing the shape of an object from measured gradient data. A certain class of optical sensors does not measure the shape of an object, but its local slope. These sensors display several advantages,…
Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. However, relying on hand-crafted prior knowledge about the geometric structure of the object fails when generalising to unseen objects, and…
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
3D face reconstruction from a single image is a challenging problem, especially under partial occlusions and extreme poses. This is because the uncertainty of the estimated 2D landmarks will affect the quality of face reconstruction. In…
Reconstructing and processing the 3D objects are popular activities in the research field of computer graphics, image processing and computer vision. The 3D objects are processed based on the methods like geometric modeling, a branch of…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…