Related papers: Is Single-View Mesh Reconstruction Ready for Robot…

Mirror reflections are common in everyday environments and can provide stereo information within a single capture, as the real and reflected virtual views are visible simultaneously. We exploit this property by treating the reflection as an…

Robotic scene understanding increasingly relies on Vision-Language Models (VLMs) to generate natural language descriptions of the environment. In this work, we systematically evaluate single-view object captioning for tabletop scenes…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

In this paper, we present a new perspective towards image-based shape generation. Most existing deep learning based shape reconstruction methods employ a single-view deterministic model which is sometimes insufficient to determine a single…

High-quality 3D garment reconstruction plays a crucial role in mitigating the sim-to-real gap in applications such as digital avatars, virtual try-on and robotic manipulation. However, existing garment reconstruction methods typically rely…

In this paper, we revisit the long-standing problem of automatic reconstruction of 3D objects from single line drawings. Previous optimization-based methods can generate compact and accurate 3D models, but their success rates depend heavily…

Acquiring the virtual equivalent of exhibits, such as sculptures, in virtual reality (VR) museums, can be labour-intensive and sometimes infeasible. Deep learning based 3D reconstruction approaches allow us to recover 3D shapes from 2D…

Reconstructing 3D object models is playing an important role in many applications in the field of computer vision. Instead of employing a collection of cameras and/or sensors as in many studies, this paper proposes a simple way to build a…

Estimating human pose and shape from monocular images is a long-standing problem in computer vision. Since the release of statistical body models, 3D human mesh recovery has been drawing broader attention. With the same goal of obtaining…

3D interacting hand reconstruction is essential to facilitate human-machine interaction and human behaviors understanding. Previous works in this field either rely on auxiliary inputs such as depth images or they can only handle a single…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

This paper presents an algorithm to reconstruct temporally consistent 3D meshes of deformable object instances from videos in the wild. Without requiring annotations of 3D mesh, 2D keypoints, or camera pose for each video frame, we pose…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

Face reconstruction and tracking is a building block of numerous applications in AR/VR, human-machine interaction, as well as medical applications. Most of these applications rely on a metrically correct prediction of the shape, especially,…

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

Reconstructing 3D models from single-view images is a long-standing problem in computer vision. The latest advances for single-image 3D reconstruction extract a textual description from the input image and further utilize it to synthesize…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

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.…