Related papers: Sparse Multi-Object Render-and-Compare
Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…
Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that…
This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…
Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…
We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…
In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…
We propose an approach to predict the 3D shape and pose for the objects present in a scene. Existing learning based methods that pursue this goal make independent predictions per object, and do not leverage the relationships amongst them.…
Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…
Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…
We present ROCA, a novel end-to-end approach that retrieves and aligns 3D CAD models from a shape database to a single input image. This enables 3D perception of an observed scene from a 2D RGB observation, characterized as a lightweight,…
Estimating the 3D shape of an object from a single or multiple images has gained popularity thanks to the recent breakthroughs powered by deep learning. Most approaches regress the full object shape in a canonical pose, possibly…
This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…
Single-view 3D shape retrieval is a fundamental yet challenging task that is increasingly important with the growth of available 3D data. Existing approaches largely fall into two categories: those using contrastive learning to map point…
3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…
3D perception of object shapes from RGB image input is fundamental towards semantic scene understanding, grounding image-based perception in our spatially 3-dimensional real-world environments. To achieve a mapping between image views of…
Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…
Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…
Reconstruction of a 3D shape from a single 2D image is a classical computer vision problem, whose difficulty stems from the inherent ambiguity of recovering occluded or only partially observed surfaces. Recent methods address this challenge…
We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…
We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…