Related papers: HoW-3D: Holistic 3D Wireframe Perception from a Si…
The task of lane detection has garnered considerable attention in the field of autonomous driving due to its complexity. Lanes can present difficulties for detection, as they can be narrow, fragmented, and often obscured by heavy traffic.…
Humans exhibit a remarkable ability to recognize co-visibility-the 3D regions simultaneously visible in multiple images-even when these images are sparsely distributed across a complex scene. This ability is foundational to 3D vision,…
Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
Forthcoming surveys such as the Large Synoptic Survey Telescope (LSST) and Euclid necessitate automatic and efficient identification methods of strong lensing systems. We present a strong lensing identification approach that utilizes a…
Reconstruction of indoor surfaces with limited texture information or with repeated textures, a situation common in walls and ceilings, may be difficult with a monocular Structure from Motion system. We propose a Semantic Room Wireframe…
In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…
This paper presents a novel cross-modal visuo-tactile perception framework for the 3D shape reconstruction of deformable linear objects (DLOs), with a specific focus on cables subject to severe visual occlusions. Unlike existing methods…
Accurately predicting the 3D shape of any arbitrary object in any pose from a single image is a key goal of computer vision research. This is challenging as it requires a model to learn a representation that can infer both the visible and…
To facilitate diagnosis on cardiac ultrasound (US), clinical practice has established several standard views of the heart, which serve as reference points for diagnostic measurements and define viewports from which images are acquired.…
Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…
Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…
We present a method that infers spatial arrangements and shapes of humans and objects in a globally consistent 3D scene, all from a single image in-the-wild captured in an uncontrolled environment. Notably, our method runs on datasets…
3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…
The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…
Human-Object Interaction (HOI) recognition in videos is important for analyzing human activity. Most existing work focusing on visual features usually suffer from occlusion in the real-world scenarios. Such a problem will be further…
Commercial off the shelf (COTS) 3D scanners are capable of generating point clouds covering visible portions of a face with sub-millimeter accuracy at close range, but lack the coverage and specialized anatomic registration provided by more…
This paper studies the problem of structured 3D reconstruction using wireframes that consist of line segments and junctions, focusing on the computation of structured boundary geometries of scenes. Instead of leveraging matching-based…
Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…