Related papers: Reconstructing Objects in-the-wild for Realistic S…

Realistic simulation is key to enabling safe and scalable development of % self-driving vehicles. A core component is simulating the sensors so that the entire autonomy system can be tested in simulation. Sensor simulation involves modeling…

Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to…

Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…

This work addresses the problem of recovering complete, simulatable object geometry from reconstructed real-world scenes, enabling physics-based interaction with objects embedded in the scene. While modern multi-view reconstruction methods…

Geometry reconstruction of textureless, non-Lambertian objects under unknown natural illumination (i.e., in the wild) remains challenging as correspondences cannot be established and the reflectance cannot be expressed in simple analytical…

Object detection in radar imagery with neural networks shows great potential for improving autonomous driving. However, obtaining annotated datasets from real radar images, crucial for training these networks, is challenging, especially in…

With increasing focus on augmented and virtual reality applications (XR) comes the demand for algorithms that can lift objects from images and videos into representations that are suitable for a wide variety of related 3D tasks. Large-scale…

Reconstructing an object from photos and placing it virtually in a new environment goes beyond the standard novel view synthesis task as the appearance of the object has to not only adapt to the novel viewpoint but also to the new lighting…

We present a novel neural surface reconstruction method, called NeuS, for reconstructing objects and scenes with high fidelity from 2D image inputs. Existing neural surface reconstruction approaches, such as DVR and IDR, require foreground…

Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and expensive hardware. Simulations offer a scalable alternative but often fail to achieve sim-to-real generalization due to geometric and…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

In this paper, we aim to create physical digital twins of deformable objects under interaction. Existing methods focus more on the physical learning of current state modeling, but generalize worse to future prediction. This is because…

In this paper, we define a new problem of recovering the 3D geometry of an object confined in a transparent enclosure. We also propose a novel method for solving this challenging problem. Transparent enclosures pose challenges of multiple…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Reconstructing and simulating elastic objects from visual observations is crucial for applications in computer vision and robotics. Existing methods, such as 3D Gaussians, model 3D appearance and geometry, but lack the ability to estimate…

We propose a 3D novel sparse-view synthesis framework for unconstrained real-world scenarios that contain distractors. Unlike existing methods that primarily perform novel-view synthesis from a sparse set of constrained images without…

Simultaneous reconstruction of geometry and reflectance properties in uncontrolled environments remains a challenging problem. In this paper, we propose an efficient method to reconstruct the scene's 3D geometry and reflectance from…

We present a method for the accurate 3D reconstruction of partly-symmetric objects. We build on the strengths of recent advances in neural reconstruction and rendering such as Neural Radiance Fields (NeRF). A major shortcoming of such…

We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D…

Reconstructing high-quality 3D objects from sparse, partial observations from a single view is of crucial importance for various applications in computer vision, robotics, and graphics. While recent neural implicit modeling methods show…