Related papers: Learning 3D Object Spatial Relationships from Pre-…

Current multi-view 3D object detection methods often fail to detect objects in the overlap region properly, and the networks' understanding of the scene is often limited to that of a monocular detection network. Moreover, objects in the…

Humans intuitively perceive object shape and orientation from a single image, guided by strong priors about canonical poses. However, existing 3D generative models often produce misaligned results due to inconsistent training data, limiting…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

We propose a novel approach to synthesizing images that are effective for training object detectors. Starting from a small set of real images, our algorithm estimates the rendering parameters required to synthesize similar images given a…

Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…

Repurposing pre-trained diffusion models has been proven to be effective for NVS. However, these methods are mostly limited to a single object; directly applying such methods to compositional multi-object scenarios yields inferior results,…

Predicting and generating human hand grasp over objects is critical for animation and robotic tasks. In this work, we focus on generating both the hand and objects in a grasp by a single diffusion model. Our proposed Joint Hand-Object…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

The thesis contributes in several important ways to the research area of 3D object category learning and recognition. To cope with the mentioned limitations, we look at human cognition, in particular at the fact that human beings learn to…

A central goal in AI is to represent scenes as compositions of discrete objects, enabling fine-grained, controllable image and video generation. Yet leading diffusion models treat images holistically and rely on text conditioning, creating…

Learning 3D human-object interaction relation is pivotal to embodied AI and interaction modeling. Most existing methods approach the goal by learning to predict isolated interaction elements, e.g., human contact, object affordance, and…

While the majority of today's object class models provide only 2D bounding boxes, far richer output hypotheses are desirable including viewpoint, fine-grained category, and 3D geometry estimate. However, models trained to provide richer…

We present a slot-wise, object-based transition model that decomposes a scene into objects, aligns them (with respect to a slot-wise object memory) to maintain a consistent order across time, and predicts how those objects evolve over…

We present a method that infers spatial arrangements and shapes of humans and objects in a globally consistent 3D scene, all from a single image in-the-wild captured in an uncontrolled environment. Notably, our method runs on datasets…

Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…

We present a dynamic model in which the weights are conditioned on an input sample x and are learned to match those that would be obtained by finetuning a base model on x and its label y. This mapping between an input sample and network…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Data association is a knotty problem for 2D Multiple Object Tracking due to the object occlusion. However, in 3D space, data association is not so hard. Only with a 3D Kalman Filter, the online object tracker can associate the detections…