Related papers: SAM3D-Phys: Towards Multi-Object Interactive Simul…
The idea of 3D reconstruction as scene understanding is foundational in computer vision. Reconstructing 3D scenes from 2D visual observations requires strong priors to disambiguate structure. Much work has been focused on the…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Reconstructing outdoor 3D scenes from temporal observations is a challenge that recent work on neural fields has offered a new avenue for. However, existing methods that recover scene properties, such as geometry, appearance, or radiance,…
We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
Actions as simple as grasping an object or navigating around it require a rich understanding of that object's 3D shape from a given viewpoint. In this paper we repurpose powerful learning machinery, originally developed for object…
Novel view synthesis for underwater scene reconstruction presents unique challenges due to complex light-media interactions. Optical scattering and absorption in water body bring inhomogeneous medium attenuation interference that disrupts…
In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…
Decompositional reconstruction of 3D scenes, with complete shapes and detailed texture of all objects within, is intriguing for downstream applications but remains challenging, particularly with sparse views as input. Recent approaches…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
We present a novel method for 3D surface reconstruction from multiple images where only a part of the object of interest is captured. Our approach builds on two recent developments: surface reconstruction using neural radiance fields for…
While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…
This paper introduces a novel pipeline to reconstruct the geometry of interacting multi-person in clothing on a globally coherent scene space from a single image. The main challenge arises from the occlusion: a part of a human body is not…
Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…
Recovering the radiometric properties of a scene (i.e., the reflectance, illumination, and geometry) is a long-sought ability of computer vision that can provide invaluable information for a wide range of applications. Deciphering the…
Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
With the explosive growth of web-based cameras and mobile devices, billions of photographs are uploaded to the internet. We can trivially collect a huge number of photo streams for various goals, such as 3D scene reconstruction and other…
Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…