相关论文: Predicting Complete 3D Models of Indoor Scenes

Compositional 3D scene synthesis has diverse applications across a spectrum of industries such as robotics, films, and video games, as it closely mirrors the complexity of real-world multi-object environments. Conventional works typically…

We present Im2Pano3D, a convolutional neural network that generates a dense prediction of 3D structure and a probability distribution of semantic labels for a full 360 panoramic view of an indoor scene when given only a partial observation…

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

There has been a growing adoption of computer vision tools and technologies in architectural design workflows over the past decade. Notable use cases include point cloud generation, visual content analysis, and spatial awareness for robotic…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…

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…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

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…

For computer vision systems to operate in dynamic situations, they need to be able to represent and reason about object permanence. We introduce a framework for learning to estimate 4D visual representations from monocular RGB-D, which is…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image…

Inferring a meaningful geometric scene representation from a single image is a fundamental problem in computer vision. Approaches based on traditional depth map prediction can only reason about areas that are visible in the image.…

We describe a method to parse a complex, cluttered indoor scene into primitives which offer a parsimonious abstraction of scene structure. Our primitives are simple convexes. Our method uses a learned regression procedure to parse a scene…

We propose a novel FCN able to work with omnidirectional images that outputs accurate probability maps representing the main structure of indoor scenes, which is able to generalize on different data. Our approach handles occlusions and…

To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…