Related papers: Category-Level 3D Correspondence in Camera Space v…

Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not readily available. To reduce dependency on 3D models, recent…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…

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…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

3D visual grounding has made notable progress in localizing objects within complex 3D scenes. However, grounding referring expressions beyond objects in 3D scenes remains unexplored. In this paper, we introduce Anywhere3D-Bench, a holistic…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…

We address the problem of fitting 3D human models to 3D scans of dressed humans. Classical methods optimize both the data-to-model correspondences and the human model parameters (pose and shape), but are reliable only when initialized close…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

In this paper, we target image-based person-to-person virtual try-on in the presence of diverse poses and large viewpoint variations. Existing methods are restricted in this setting as they estimate garment warping flows mainly based on 2D…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…