Related papers: DreamGrasp: Zero-Shot 3D Multi-Object Reconstructi…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Generative 3D reconstruction shows strong potential in incomplete observations. While sparse-view and single-image reconstruction are well-researched, partial observation remains underexplored. In this context, dense views are accessible…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

3D reconstruction from a single-RGB image in unconstrained real-world scenarios presents numerous challenges due to the inherent diversity and complexity of objects and environments. In this paper, we introduce Anything-3D, a methodical…

We present a method for the accurate 3D reconstruction of partly-symmetric objects. We build on the strengths of recent advances in neural reconstruction and rendering such as Neural Radiance Fields (NeRF). A major shortcoming of such…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…

Reconstructing objects from posed images is a crucial and complex task in computer graphics and computer vision. While NeRF-based neural reconstruction methods have exhibited impressive reconstruction ability, they tend to be…

Geometry reconstruction of textureless, non-Lambertian objects under unknown natural illumination (i.e., in the wild) remains challenging as correspondences cannot be established and the reflectance cannot be expressed in simple analytical…

Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…

Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…

3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose estimation and 3D reconstruction of objects. Current…