Related papers: Sparse Multi-Object Render-and-Compare
We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…
For many automated driving functions, a highly accurate perception of the vehicle environment is a crucial prerequisite. Modern high-resolution radar sensors generate multiple radar targets per object, which makes these sensors particularly…
Robots need both visual and contact sensing to effectively estimate the state of their environment. Camera RGBD data provides rich information of the objects surrounding the robot, and shape priors can help correct noise and fill in gaps…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Monocular normal estimation aims to estimate the normal map from a single RGB image of an object under arbitrary lights. Existing methods rely on deep models to directly predict normal maps. However, they often suffer from 3D misalignment:…
This paper addresses the problem of 3D pose estimation for multiple people in a few calibrated camera views. The main challenge of this problem is to find the cross-view correspondences among noisy and incomplete 2D pose predictions. Most…
This paper studies the problem of 3D volumetric reconstruction from two views of a scene with an unknown camera. While seemingly easy for humans, this problem poses many challenges for computers since it requires simultaneously…
In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…
We present Scan2CAD, a novel data-driven method that learns to align clean 3D CAD models from a shape database to the noisy and incomplete geometry of a commodity RGB-D scan. For a 3D reconstruction of an indoor scene, our method takes as…
Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…
We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…
Rapid advances in 2D perception have led to systems that accurately detect objects in real-world images. However, these systems make predictions in 2D, ignoring the 3D structure of the world. Concurrently, advances in 3D shape prediction…
This paper presents a novel method for reconstructing 3D garment models from a single image of a posed user. Previous studies that have primarily focused on accurately reconstructing garment geometries to match the input garment image may…
Single-view 3D shape reconstruction is an important but challenging problem, mainly for two reasons. First, as shape annotation is very expensive to acquire, current methods rely on synthetic data, in which ground-truth 3D annotation is…
Face reconstruction and tracking is a building block of numerous applications in AR/VR, human-machine interaction, as well as medical applications. Most of these applications rely on a metrically correct prediction of the shape, especially,…
6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…
In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…
Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…