Related papers: Structure from Action: Learning Interactions for A…
While initial approaches to Structure-from-Motion (SfM) revolved around both global and incremental methods, most recent applications rely on incremental systems to estimate camera poses due to their superior robustness. Though there has…
In this paper we tackle the problem of learning Structure-from-Motion (SfM) through the use of graph attention networks. SfM is a classic computer vision problem that is solved though iterative minimization of reprojection errors, referred…
This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…
The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different…
We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…
Structure from Motion (SfM) refers to the problem of recovering both structure (i.e., 3D coordinates of points in the scene) and motion (i.e., camera matrices) starting from point correspondences in multiple images. It has attracted…
People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…
A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…
Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-of-freedom than points. Thus, line-based…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the…
Skeletal Action recognition from an egocentric view is important for applications such as interfaces in AR/VR glasses and human-robot interaction, where the device has limited resources. Most of the existing skeletal action recognition…
Humans easily recognize object parts and their hierarchical structure by watching how they move; they can then predict how each part moves in the future. In this paper, we propose a novel formulation that simultaneously learns a…
A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…
Structure-from-Motion (SfM) aims to recover 3D scene structures and camera poses based on the correspondences between input images, and thus the ambiguity caused by duplicate structures (i.e., different structures with strong visual…
Among the existing modalities for 3D action recognition, 3D flow has been poorly examined, although conveying rich motion information cues for human actions. Presumably, its susceptibility to noise renders it intractable, thus challenging…
Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…
With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise…