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Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…

Volumetric scene reconstruction from a single image is crucial for a broad range of applications like autonomous driving and robotics. Recent volumetric reconstruction methods achieve impressive results, but generally require expensive 3D…

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…

Generating consistent multiple views for 3D reconstruction tasks is still a challenge to existing image-to-3D diffusion models. Generally, incorporating 3D representations into diffusion model decrease the model's speed as well as…

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system…

Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry…

3D reconstruction for Digital Twins often relies on LiDAR-based methods, which provide accurate geometry but lack the semantics and textures naturally captured by cameras. Traditional LiDAR-camera fusion approaches require complex…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

Indirect Time-of-Flight (iToF) cameras are a widespread type of 3D sensor, which perform multiple captures to obtain depth values of the captured scene. While recent approaches to correct iToF depths achieve high performance when removing…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…

In the present study, two schemes named face discernment and flux correction are proposed to achieve single-phase transportation of free charge in multiphase electrohydrodynamic(EHD) problems. Many EHD phenomena occur between air and…

Image fusion is a fundamental and important task in computer vision, aiming to combine complementary information from different modalities to fuse images. In recent years, diffusion models have made significant developments in the field of…

Detecting water-surface targets for Unmanned Surface Vehicles (USVs) is challenging due to wave clutter, specular reflections, and weak appearance cues in long-range observations. Although 4D millimeter-wave radar complements cameras under…

Reconstructing and tracking dynamic 3D scenes remains a fundamental challenge in computer vision. Existing approaches often decouple geometry from motion: multi-view reconstruction methods assume static scenes, while dynamic tracking…

We introduce Prior-Informed Flow Matching (PIFM), a conditional flow model for graph reconstruction. Reconstructing graphs from partial observations remains a key challenge; classical embedding methods often lack global consistency, while…

In this paper, we present a new inpainting framework for recovering missing regions of video frames. Compared with image inpainting, performing this task on video presents new challenges such as how to preserving temporal consistency and…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

In this paper we introduce CorticalFlow, a new geometric deep-learning model that, given a 3-dimensional image, learns to deform a reference template towards a targeted object. To conserve the template mesh's topological properties, we…