Related papers: Uncertainty Guided Policy for Active Robotic 3D Re…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

Neural Radiance Field (NeRF) has emerged as a compelling method to represent 3D objects and scenes for photo-realistic rendering. However, its implicit representation causes difficulty in manipulating the models like the explicit mesh…

Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…

The goal of MRI reconstruction is to restore a high fidelity image from partially observed measurements. This partial view naturally induces reconstruction uncertainty that can only be reduced by acquiring additional measurements. In this…

Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…

Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks.…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

In this work, we present a new method for 3D face reconstruction from sparse-view RGB images. Unlike previous methods which are built upon 3D morphable models (3DMMs) with limited details, we leverage an implicit representation to encode…

We tackle the ill-posed inverse rendering problem in 3D reconstruction with a Neural Radiance Field (NeRF) approach informed by Physics-Based Rendering (PBR) theory, named PBR-NeRF. Our method addresses a key limitation in most NeRF and 3D…

Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…

Active 3D scene representation is pivotal in modern robotics applications, including remote inspection, manipulation, and telepresence. Traditional methods primarily optimize geometric fidelity or rendering accuracy, but often overlook…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…

While Neural Radiance Fields (NeRFs) had achieved unprecedented novel view synthesis results, they have been struggling in dealing with large-scale cluttered scenes with sparse input views and highly view-dependent appearances.…

Neural Radiance Fields (NeRFs) have remodeled 3D scene representation since release. NeRFs can effectively reconstruct complex 3D scenes from 2D images, advancing different fields and applications such as scene understanding, 3D content…

Given dense image feature correspondences of a non-rigidly moving object across multiple frames, this paper proposes an algorithm to estimate its 3D shape for each frame. To solve this problem accurately, the recent state-of-the-art…

Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…

The problem of determining three-dimensional density fields from single two-dimensional projections is hopelessly underdetermined without additional assumptions. While parameterized inversions are typically used to solve this problem, we…

Large-scale Neural Radiance Fields (NeRF) reconstructions are typically hindered by the requirement for extensive image datasets and substantial computational resources. This paper introduces IOVS4NeRF, a framework that employs an…

Estimating neural radiance fields (NeRFs) from "ideal" images has been extensively studied in the computer vision community. Most approaches assume optimal illumination and slow camera motion. These assumptions are often violated in robotic…

Industrial 3D face assets creation typically reconstructs topology-consistent face meshes from multi-view images for downstream production. However, high-quality reconstruction usually requires manual processing or specific capture…