Related papers: Elite360M: Efficient 360 Multi-task Learning via B…
Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…
The accuracy-speed-memory trade-off is always the priority to consider for several computer vision perception tasks. Previous methods mainly focus on a single or small couple of these tasks, such as creating effective data augmentation,…
Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Depth completion, aiming to predict dense depth maps from sparse depth measurements, plays a crucial role in many computer vision related applications. Deep learning approaches have demonstrated overwhelming success in this task. However,…
Multi-view depth estimation plays a critical role in reconstructing and understanding the 3D world. Recent learning-based methods have made significant progress in it. However, multi-view depth estimation is fundamentally a…
Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…
Incorporating inductive bias by embedding geometric entities (such as rays) as input has proven successful in multi-view learning. However, the methods adopting this technique typically lack equivariance, which is crucial for effective 3D…
3D foundation models (3DFMs) have recently transformed 3D vision, enabling joint prediction of depths, poses, and point maps directly from images. Yet their ability to reason under extreme, non-overlapping views remains largely unexplored.…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
A main challenge for tasks on panorama lies in the distortion of objects among images. In this work, we propose a Distortion-Aware Monocular Omnidirectional (DAMO) dense depth estimation network to address this challenge on indoor panoramas…
Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…
We address the problem of generating a 360-degree image from a single image with a narrow field of view by estimating its surroundings. Previous methods suffered from overfitting to the training resolution and deterministic generation. This…
360{\deg} images and videos have become an economic and popular way to provide VR experiences using real-world content. However, the manipulation of the stereo panoramic content remains less explored. In this paper, we focus on the…
Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…
Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…
In this paper, we propose a distortion-aware loop filtering model to improve the performance of intra coding for 360$^o$ videos projected via equirectangular projection (ERP) format. To enable the awareness of distortion, our proposed…
In this paper, we present a joint multi-task learning framework for semantic segmentation and boundary detection. The critical component in the framework is the iterative pyramid context module (PCM), which couples two tasks and stores the…
Omnidirectional image and video super-resolution is a crucial research topic in low-level vision, playing an essential role in virtual reality and augmented reality applications. Its goal is to reconstruct high-resolution images or video…
Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…