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Panoramic images provide comprehensive scene information and are suitable for VR applications. Obtaining corresponding depth maps is essential for achieving immersive and interactive experiences. However, panoramic depth estimation presents…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

Generating good quality and geometrically plausible synthetic images of humans with the ability to control appearance, pose and shape parameters, has become increasingly important for a variety of tasks ranging from photo editing, fashion…

While there has been significant progress in solving the problems of image pixel labeling, object detection and scene classification, existing approaches normally address them separately. In this paper, we propose to tackle these problems…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…

In recent years, Neural Fields (NFs) have emerged as an effective tool for encoding diverse continuous signals such as images, videos, audio, and 3D shapes. When applied to 3D data, NFs offer a solution to the fragmentation and limitations…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

We propose a deep learning approach for finding dense correspondences between 3D scans of people. Our method requires only partial geometric information in the form of two depth maps or partial reconstructed surfaces, works for humans in…

We present a novel unsupervised deep learning framework for anomalous event detection in complex video scenes. While most existing works merely use hand-crafted appearance and motion features, we propose Appearance and Motion DeepNet (AMDN)…

In this paper, we introduce a novel method called FRI-Net for 2D floorplan reconstruction from 3D point cloud. Existing methods typically rely on corner regression or box regression, which lack consideration for the global shapes of rooms.…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…