Related papers: Part-level Scene Reconstruction Affords Robot Inte…
Dynamic scene understanding is an essential capability in robotics and VR/AR. In this paper we propose Co-Section, an optimization-based approach to 3D dynamic scene reconstruction, which infers hidden shape information from intersection…
Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…
Articulated 3D objects are critical for embodied AI, robotics, and interactive scene understanding, yet creating simulation-ready assets remains labor-intensive and requires expert modeling of part hierarchies and motion structures. We…
Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…
Monocular 3D scene reconstruction has recently seen significant progress. Powered by the modern neural architectures and large-scale data, recent methods achieve high performance in depth estimation from a single image. Meanwhile,…
Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…
Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
We scrutinise an important observation plaguing scene-level sketch research -- that a significant portion of scene sketches are "partial". A quick pilot study reveals: (i) a scene sketch does not necessarily contain all objects in the…
Conventional rendering techniques are primarily designed and optimized for single-frame rendering. In practical applications, such as scene editing and animation rendering, users frequently encounter scenes where only a small portion is…
Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…
This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…
Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…
This paper scales object-level reconstruction to complex scenes, advancing interactive scene reconstruction. We introduce two datasets, OmniSim and InterReal, featuring 28 scenes with multiple interactive objects. To tackle the challenge of…
3D Gaussian Splatting has achieved remarkable success in reconstructing both static and dynamic 3D scenes. However, in a scene represented by 3D Gaussian primitives, interactions between objects suffer from inaccurate 3D segmentation,…
Reconstructing photo-realistic large-scale scenes from images, for example at city scale, is a long-standing problem in computer graphics. Neural rendering is an emerging technique that enables photo-realistic image synthesis from…
Action recognition is a critical task for social robots to meaningfully engage with their environment. 3D human skeleton-based action recognition is an attractive research area in recent years. Although, the existing approaches are good at…
As interest grows in world models that predict future states from current observations and actions, accurately modeling part-level dynamics has become increasingly relevant for various applications. Existing approaches, such as…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…