Related papers: LASA: Instance Reconstruction from Real Scans usin…
Images of realistic scenes often contain intra-class objects that are heavily occluded from each other, making the amodal perception task that requires parsing the occluded parts of the objects challenging. Although important for downstream…
Recent advances in object-centric representation learning have shown that slot attention-based methods can effectively decompose visual scenes into object slot representations without supervision. However, existing approaches typically…
We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…
Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…
One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…
3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…
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,…
We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…
Computer vision-based deep learning object detection algorithms have been developed sufficiently powerful to support the ability to recognize various objects. Although there are currently general datasets for object detection, there is…
Digitising the 3D world into a clean, CAD model-based representation has important applications for augmented reality and robotics. Current state-of-the-art methods are computationally intensive as they individually encode each detected…
By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…
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…
Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality object generation. To address these, we propose CAST…
Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…
Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…
As a part of the perception results of intelligent driving systems, static object detection (SOD) in 3D space provides crucial cues for driving environment understanding. With the rapid deployment of deep neural networks for SOD tasks, the…
Existing real-world super-resolution (RSR) methods based on generative priors have achieved remarkable progress in producing high-quality and globally consistent reconstructions. However, they often struggle to recover fine-grained details…
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…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
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…