Related papers: Interaction-Driven Active 3D Reconstruction with O…
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…
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…
Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…
Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…
Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
Recently, learning-based approaches for 3D reconstruction from 2D images have gained popularity due to its modern applications, e.g., 3D printers, autonomous robots, self-driving cars, virtual reality, and augmented reality. The computer…
In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…
The dominant majority of 3D models that appear in gaming, VR/AR, and those we use to train geometric deep learning algorithms are incomplete, since they are modeled as surface meshes and missing their interior structures. We present a…
We reconstruct 3D deformable object through time, in the context of a live pottery making process where the crafter molds the object. Because the object suffers from heavy hand interaction, and is being deformed, classical techniques cannot…
Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…
Our work aims to reconstruct a 3D object that is held and rotated by a hand in front of a static RGB camera. Previous methods that use implicit neural representations to recover the geometry of a generic hand-held object from multi-view…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
Numerous techniques have been proposed for reconstructing 3D models for opaque objects in past decades. However, none of them can be directly applied to transparent objects. This paper presents a fully automatic approach for reconstructing…
Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…