Related papers: Real-to-Sim for Highly Cluttered Environments via …
The reconstruction of three-dimensional dynamic scenes is a well-established yet challenging task within the domain of computer vision. In this paper, we propose a novel approach that combines the domains of 3D geometry reconstruction and…
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
High-fidelity 3D reconstruction is critical for aerial inspection tasks such as infrastructure monitoring, structural assessment, and environmental surveying. While traditional photogrammetry techniques enable geometric modeling, they lack…
Typical Structure-from-Motion (SfM) pipelines rely on finding correspondences across images, recovering the projective structure of the observed scene and upgrading it to a metric frame using camera self-calibration constraints. Solving…
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…
Mathematically representing the shape of an object is a key ingredient for solving inverse rendering problems. Explicit representations like meshes are efficient to render in a differentiable fashion but have difficulties handling topology…
Quality control of assembly processes is essential in manufacturing to ensure not only the quality of individual components but also their proper integration into the final product. To assist in this matter, automated assembly control using…
The increasing demand for virtual reality applications has highlighted the significance of crafting immersive 3D assets. We present a text-to-3D 360$^{\circ}$ scene generation pipeline that facilitates the creation of comprehensive…
We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…
This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…
We propose an end-to-end pipeline for both building and tracking 3D facial models from personalized in-the-wild (cellphone, webcam, youtube clips, etc.) video data. First, we present a method for automatic data curation and retrieval based…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…
Reconstructing 3D assets from images has long required separate pipelines for geometry reconstruction, material estimation, and illumination recovery, each with distinct limitations and computational overhead. We present ReLi3D, the first…
Driving scene understanding is a critical real-world problem that involves interpreting and associating various elements of a driving environment, such as vehicles, pedestrians, and traffic signals. Despite advancements in autonomous…
Incorporating accurate physics-based simulation into interactive design tools is challenging. However, adding the physics accurately becomes crucial to several emerging technologies. For example, in virtual/augmented reality (VR/AR) videos,…
We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information…
We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…
Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…