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Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…
We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…
Inverting visual representations within deep neural networks (DNNs) presents a challenging and important problem in the field of security and privacy for deep learning. The main goal is to invert the features of an unidentified target image…
3D reconstruction methods such as Neural Radiance Fields (NeRFs) excel at rendering photorealistic novel views of complex scenes. However, recovering a high-quality NeRF typically requires tens to hundreds of input images, resulting in a…
Object reconstruction from 3D point clouds has been a long-standing research problem in computer vision and computer graphics, and achieved impressive progress. However, reconstruction from time-varying point clouds (a.k.a. 4D point clouds)…
We present Farm3D, a method for learning category-specific 3D reconstructors for articulated objects, relying solely on "free" virtual supervision from a pre-trained 2D diffusion-based image generator. Recent approaches can learn a…
Multi-view image generation holds significant application value in computer vision, particularly in domains like 3D reconstruction, virtual reality, and augmented reality. Most existing methods, which rely on extending single images, face…
Recent advances in 4D generation mainly focus on generating 4D content by distilling pre-trained text or single-view image-conditioned models. It is inconvenient for them to take advantage of various off-the-shelf 3D assets with multi-view…
Image fusion is a fundamental and important task in computer vision, aiming to combine complementary information from different modalities to fuse images. In recent years, diffusion models have made significant developments in the field of…
Diffusion models learn strong image priors that can be leveraged to solve inverse problems like medical image reconstruction. However, for real-world applications such as 3D Computed Tomography (CT) imaging, directly training diffusion…
We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…
The computer vision community has developed numerous techniques for digitally restoring true scene information from single-view degraded photographs, an important yet extremely ill-posed task. In this work, we tackle image restoration from…
We introduce OneDiffusion, a versatile, large-scale diffusion model that seamlessly supports bidirectional image synthesis and understanding across diverse tasks. It enables conditional generation from inputs such as text, depth, pose,…
Controllable generation of 3D assets is important for many practical applications like content creation in movies, games and engineering, as well as in AR/VR. Recently, diffusion models have shown remarkable results in generation quality of…
Reconstructing 3D humans from a single image has been extensively investigated. However, existing approaches often fall short on capturing fine geometry and appearance details, hallucinating occluded parts with plausible details, and…
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,…
Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions with as few input images as possible. Although 3D Gaussian…
Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty, budget assumptions, and physical reachability constraints.…
Recently, methods like Zero-1-2-3 have focused on single-view based 3D reconstruction and have achieved remarkable success. However, their predictions for unseen areas heavily rely on the inductive bias of large-scale pretrained diffusion…