Related papers: GAA-TSO: Geometry-Aware Assisted Depth Completion …
In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…
Most Gaussian Splatting techniques that provide a 3D semantic representation of the scene do not optimize the underlying 3D geometry, making object-level editing or asset extraction challenging. Recent methods, such as COBGS, Trace3D,…
Guided depth super-resolution (GDSR) has demonstrated impressive performance across a wide range of domains, with numerous methods being proposed. However, existing methods often treat depth maps as images, where shading values are computed…
Three-dimensional reconstruction in scenes with extreme depth variations remains challenging due to inconsistent supervisory signals between near-field and far-field regions. Existing methods fail to simultaneously address inaccurate depth…
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…
Accurate tracking of transparent objects, such as glasses, plays a critical role in many robotic tasks such as robot-assisted living. Due to the adaptive and often reflective texture of such objects, traditional tracking algorithms that…
This work presents a novel pipeline to recover the 3D structure of an unknown target spacecraft from a sequence of images captured during Rendezvous and Proximity Operations (RPO) in space. The target's geometry and appearance are…
Reconstructing accurate surfaces with radiance fields has progressed rapidly, yet two promising explicit representations, 3D Gaussian Splatting and sparse-voxel rasterization, exhibit complementary strengths and weaknesses. 3D Gaussian…
We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…
Inferring the 3D geometry and the semantic meaning of surfaces, which are occluded, is a very challenging task. Recently, a first end-to-end learning approach has been proposed that completes a scene from a single depth image. The approach…
Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…
A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…
RGB-based surface anomaly detection methods have advanced significantly. However, certain surface anomalies remain practically invisible in RGB alone, necessitating the incorporation of 3D information. Existing approaches that employ…
Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…
Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…
Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…
Point-cloud data collected in real-world applications are often incomplete. Data is typically missing due to objects being observed from partial viewpoints, which only capture a specific perspective or angle. Additionally, data can be…