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The emergence of 3D Gaussian Splatting (3D-GS) has significantly advanced 3D reconstruction by providing high fidelity and fast training speeds across various scenarios. While recent efforts have mainly focused on improving model structures…

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of…

Recent novel view synthesis (NVS) techniques, including Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have greatly advanced 3D scene reconstruction with high-quality rendering and realistic detail recovery. Effectively…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

3D object detection is fundamental for spatial understanding. Real-world environments demand models capable of recognizing diverse, previously unseen objects, which remains a major limitation of closed-set methods. Existing open-vocabulary…

Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…

Head orientation is a challenging Computer Vision problem that has been extensively researched having a wide variety of applications. However, current state-of-the-art systems still underperform in the presence of occlusions and are…

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…

Existing scene understanding systems mainly focus on recognizing the visible parts of a scene, ignoring the intact appearance of physical objects in the real-world. Concurrently, image completion has aimed to create plausible appearance for…

Open-world object detection (OWOD), as a more general and challenging goal, requires the model trained from data on known objects to detect both known and unknown objects and incrementally learn to identify these unknown objects. The…

Zero-shot 3D object classification is crucial for real-world applications like autonomous driving, however it is often hindered by a significant domain gap between the synthetic data used for training and the sparse, noisy LiDAR scans…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet…