Related papers: Interaction-Driven Active 3D Reconstruction with O…
A simple method of constructing the 3D surface of non-transparent micro-objects by extending the depth-of-field on the whole attainable surface is presented. The series of images of a sample are recorded by the sequential movement of the…
Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…
Recently, the emergence of diffusion models has opened up new opportunities for single-view reconstruction. However, all the existing methods represent the target object as a closed mesh devoid of any structural information, thus neglecting…
This paper presents a novel approach 4DRecons that takes a single camera RGB-D sequence of a dynamic subject as input and outputs a complete textured deforming 3D model over time. 4DRecons encodes the output as a 4D neural implicit surface…
We present a method for inferring diverse 3D models of human-object interactions from images. Reasoning about how humans interact with objects in complex scenes from a single 2D image is a challenging task given ambiguities arising from the…
Methods for 3D reconstruction such as Photometric stereo recover the shape and reflectance properties using multiple images of an object taken with variable lighting conditions from a fixed viewpoint. Photometric stereo assumes that a scene…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…
When conducting autonomous scanning for the online reconstruction of unknown indoor environments, robots have to be competent at exploring scene structure and reconstructing objects with high quality. Our key observation is that different…
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…
We propose an approach to 3D reconstruction via inverse procedural modeling and investigate two variants of this approach. The first option consists in the fitting set of input parameters using a genetic algorithm. We demonstrate the…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Multi-scale 3D characterization is widely used by materials scientists to further their understanding of the relationships between microscopic structure and macroscopic function. Scientific computed tomography (CT) instruments are one of…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional…
3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…
This paper focuses on a challenging setting of simultaneously modeling geometry and appearance of hand-object interaction scenes without any object priors. We follow the trend of dynamic 3D Gaussian Splatting based methods, and address…
Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…
Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…