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We present a novel paradigm of building an animatable 3D human representation from a monocular video input, such that it can be rendered in any unseen poses and views. Our method is based on a dynamic Neural Radiance Field (NeRF) rigged by…
NeRF is a popular model that efficiently represents 3D objects from 2D images. However, vanilla NeRF has some important limitations. NeRF must be trained on each object separately. The training time is long since we encode the object's…
Neural fields (NeRF) have emerged as a promising approach for representing continuous 3D scenes. Nevertheless, the lack of semantic encoding in NeRFs poses a significant challenge for scene decomposition. To address this challenge, we…
Neural Radiance Fields (NeRFs) have shown great potential in modeling 3D scenes. Dynamic NeRFs extend this model by capturing time-varying elements, typically using deformation fields. The existing dynamic NeRFs employ a similar Eulerian…
In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…
This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…
Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…
Parametric 3D models have enabled a wide variety of tasks in computer graphics and vision, such as modeling human bodies, faces, and hands. However, the construction of these parametric models is often tedious, as it requires heavy manual…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Dynamic Neural Radiance Field (NeRF) is a powerful algorithm capable of rendering photo-realistic novel view images from a monocular RGB video of a dynamic scene. Although it warps moving points across frames from the observation spaces to…
Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…
Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…
Neural Radiance Fields (NeRFs) are a very recent and very popular approach for the problems of novel view synthesis and 3D reconstruction. A popular scene representation used by NeRFs is to combine a uniform, voxel-based subdivision of the…
Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…
We investigate the use of Neural Radiance Fields (NeRF) to learn high quality 3D object category models from collections of input images. In contrast to previous work, we are able to do this whilst simultaneously separating foreground…
Most Neural Radiance Fields (NeRFs) exhibit limited generalization capabilities, which restrict their applicability in representing multiple scenes using a single model. To address this problem, existing generalizable NeRF methods simply…
Most of the classical denoising methods restore clear results by selecting and averaging pixels in the noisy input. Instead of relying on hand-crafted selecting and averaging strategies, we propose to explicitly learn this process with deep…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
To generalize to novel visual scenes with new viewpoints and new object poses, a visual system needs representations of the shapes of the parts of an object that are invariant to changes in viewpoint or pose. 3D graphics representations…
3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…