Related papers: SceneComplete: Open-World 3D Scene Completion in C…
This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…
Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…
This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…
A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…
Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…
We are witnessing significant breakthroughs in the technology for generating 3D objects from text. Existing approaches either leverage large text-to-image models to optimize a 3D representation or train 3D generators on object-centric…
Multi-modal 3D scene understanding has gained considerable attention due to its wide applications in many areas, such as autonomous driving and human-computer interaction. Compared to conventional single-modal 3D understanding, introducing…
3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…
Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…
Recent progress in image and video synthesis has inspired their use in advancing 3D scene generation. However, we observe that text-to-image and -video approaches struggle to maintain scene- and object-level consistency beyond a limited…
3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…
3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…
Synthetic 3D scenes are essential for developing Physical AI and generative models. Existing procedural generation methods often have low output throughput, creating a significant bottleneck in scaling up dataset creation. In this work, we…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…
Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…
Recent advances in 3D scene generation produce visually appealing output, but current representations hinder artists' workflows that require modifiable 3D textured mesh scenes for visual effects and game development. Despite significant…
Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…