Related papers: 3D Part Assembly Generation with Instance Encoded …

The rise of simulation environments has enabled learning-based approaches for assembly planning, which is otherwise a labor-intensive and daunting task. Assembling furniture is especially interesting since furniture are intricate and pose…

We introduce the problem of material-aware part grouping in untextured meshes. Many real-world shapes, such as scales of pinecones or windows of buildings, contain repeated structures that share the same material but exhibit geometric…

We present a novel approach to detect, segment, and reconstruct complete textured 3D models of vehicles from a single image for autonomous driving. Our approach combines the strengths of deep learning and the elegance of traditional…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…

We introduce a novel learning-based method for encoding and manipulating 3D surface meshes. Our method is specifically designed to create an interpretable embedding space for deformable shape collections. Unlike previous 3D mesh…

Compositional 3D scene generation from a single view requires the simultaneous recovery of scene layout and 3D assets. Existing approaches mainly fall into two categories: feed-forward generation methods and per-instance generation methods.…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

3D instance segmentation plays a crucial role in comprehending 3D scenes. Despite recent advancements in this field, existing approaches exhibit certain limitations. These methods often rely on fixed instance positions obtained from sampled…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…

Intra-class variations, distribution shifts among source and target domains are the major challenges of category-level tasks. In this study, we address category-level full 6D object pose estimation in the context of depth modality,…

We propose a novel approach for automatic extraction (instance segmentation) of fibers from low resolution 3D X-ray computed tomography scans of short glass fiber reinforced polymers. We have designed a 3D instance segmentation architecture…

A complete representation of 3D objects requires characterizing the space of deformations in an interpretable manner, from articulations of a single instance to changes in shape across categories. In this work, we improve on a prior…

3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…

Spatially localized deformation components are very useful for shape analysis and synthesis in 3D geometry processing. Several methods have recently been developed, with an aim to extract intuitive and interpretable deformation components.…

Designing 3D objects from scratch is difficult, especially when the user intent is fuzzy without a clear target form. In the spirit of modeling-by-example, we facilitate design by providing reference and inspiration from existing model…

Accurate 3D shape representation is essential in engineering applications such as design, optimization, and simulation. In practice, engineering workflows require structured, part-based representations, as objects are inherently designed as…

The creation of 3D assets with explicit, editable part structures is crucial for advancing interactive applications, yet most generative methods produce only monolithic shapes, limiting their utility. We introduce OmniPart, a novel…