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Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…
We show that generative models can be used to capture visual geometry constraints statistically. We use this fact to infer the 3D shape of object categories from raw single-view images. Differently from prior work, we use no external…
Reconstructing 3D objects from a single image remains challenging, especially under real-world occlusions. While recent diffusion-based view synthesis models can generate consistent novel views from a single RGB image, they typically assume…
Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…
Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…
We propose a method to learn 3D deformable object categories from raw single-view images, without external supervision. The method is based on an autoencoder that factors each input image into depth, albedo, viewpoint and illumination. In…
The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches…
Intrinsic image decomposition, which is an essential task in computer vision, aims to infer the reflectance and shading of the scene. It is challenging since it needs to separate one image into two components. To tackle this, conventional…
This paper addresses the problem of cross-dataset generalization of 3D human pose estimation models. Testing a pre-trained 3D pose estimator on a new dataset results in a major performance drop. Previous methods have mainly addressed this…
Available 3D human pose estimation approaches leverage different forms of strong (2D/3D pose) or weak (multi-view or depth) paired supervision. Barring synthetic or in-studio domains, acquiring such supervision for each new target…
Natural images are projections of 3D objects on a 2D image plane. While state-of-the-art 2D generative models like GANs show unprecedented quality in modeling the natural image manifold, it is unclear whether they implicitly capture the…
We present LCollision, a learning-based method that synthesizes collision-free 3D human poses. At the crux of our approach is a novel deep architecture that simultaneously decodes new human poses from the latent space and predicts colliding…
We present an approach to infer the 3D shape, texture, and camera pose for an object from a single RGB image, using only category-level image collections with foreground masks as supervision. We represent the shape as an image-conditioned…
Recent conditional image synthesis approaches provide high-quality synthesized images. However, it is still challenging to accurately adjust image contents such as the positions and orientations of objects, and synthesized images often have…
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…
Achieving reliable and efficient planning in complex driving environments requires a model that can reason over the scene's geometry, appearance, and dynamics. We present UniDWM, a unified driving world model that advances autonomous…
Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…
Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training…
Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…
Deep generative models come with the promise to learn an explainable representation for visual objects that allows image sampling, synthesis, and selective modification. The main challenge is to learn to properly model the independent…