Related papers: A One Stop 3D Target Reconstruction and multilevel…

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast…

Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…

Reconstructing strand-level 3D hair from a single-view image is highly challenging, especially when preserving consistent and realistic attributes in unseen regions. Existing methods rely on limited frontal-view cues and…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Object-centric reconstruction seeks to recover the 3D structure of a scene through composition of independent objects. While this independence can simplify modeling, it discards strong signals that could improve reconstruction, notably…

We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negative. Multi-view object detection effectively solves this…

In this paper, we introduce Segmentation-Driven Deformation Multi-View Stereo (SD-MVS), a method that can effectively tackle challenges in 3D reconstruction of textureless areas. We are the first to adopt the Segment Anything Model (SAM) to…

While convolutional neural networks have gained impressive success recently in solving structured prediction problems such as semantic segmentation, it remains a challenge to differentiate individual object instances in the scene. Instance…

Most object-level mapping systems in use today make use of an upstream learned object instance segmentation model. If we want to teach them about a new object or segmentation class, we need to build a large dataset and retrain the system.…