Related papers: Robo3R: Enhancing Robotic Manipulation with Accura…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…
We present WinT3R, a feed-forward reconstruction model capable of online prediction of precise camera poses and high-quality point maps. Previous methods suffer from a trade-off between reconstruction quality and real-time performance. To…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…
In this paper, we introduce SLAM3R, a novel and effective system for real-time, high-quality, dense 3D reconstruction using RGB videos. SLAM3R provides an end-to-end solution by seamlessly integrating local 3D reconstruction and global…
Emerging 3D geometric foundation models, such as DUSt3R, offer a promising approach for in-the-wild 3D vision tasks. However, due to the high-dimensional nature of the problem space and scarcity of high-quality 3D data, these pre-trained…
We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences…
LiDAR-based 3D object detection is of paramount importance for autonomous driving. Recent trends show a remarkable improvement for bird's-eye-view (BEV) based and point-based methods as they demonstrate superior performance compared to…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
In embodied intelligence systems, a key component is 3D perception algorithm, which enables agents to understand their surrounding environments. Previous algorithms primarily rely on point cloud, which, despite offering precise geometric…
Estimating 3D geometry from monocular colonoscopy images is challenging due to non-Lambertian surfaces, moving light sources, and large textureless regions. While recent 3D geometric foundation models eliminate the need for multi-stage…
Reconstructing the 3D geometry, pose, and motion of animals is a long-standing problem, which has a wide range of applications, from biology, livestock management, and animal conservation and welfare to content creation in digital…
A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Reconstructing dynamic 3D scenes (i.e., 4D geometry) from monocular video is an important yet challenging problem. Conventional multiview geometry-based approaches often struggle with dynamic motion, whereas recent learning-based methods…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…
Streaming 3D perception is well suited to robotics and augmented reality, where long visual streams must be processed efficiently and consistently. Recent recurrent models offer a promising solution by maintaining fixed-size states and…