相关论文: Joint Layout Estimation and Global Multi-View Regi…

We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely cover the scene…

Recent advances in 3D scene generation produce visually appealing output, but current representations hinder artists' workflows that require modifiable 3D textured mesh scenes for visual effects and game development. Despite significant…

Accurately reconstructing complex full multi-object scenes from sparse observations remains a core challenge in computer vision and a key step toward scalable and reliable simulation for robotics. In this work, we introduce RecGen, a…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

The reconstruction of indoor scenes from multi-view RGB images is challenging due to the coexistence of flat and texture-less regions alongside delicate and fine-grained regions. Recent methods leverage neural radiance fields aided by…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

The task of estimating the spatial layout of cluttered indoor scenes from a single RGB image is addressed in this work. Existing solutions to this problems largely rely on hand-craft features and vanishing lines, and they often fail in…

3D reconstruction of large scenes is a challenging problem due to the high-complexity nature of the solution space, in particular for generative neural networks. In contrast to traditional generative learned models which encode the full…

This paper presents a framework that combines traditional keypoint-based camera pose optimization with an invertible neural rendering mechanism. Our proposed 3D scene representation, Nerfels, is locally dense yet globally sparse. As opposed…

Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…

Indoor scene synthesis involves automatically picking and placing furniture appropriately on a floor plan, so that the scene looks realistic and is functionally plausible. Such scenes can serve as homes for immersive 3D experiences, or be…

This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural…

This paper presents a novel approach for structure-preserving planar simplification of indoor scene point clouds for both simulated and real-world environments. Initially, the scene point cloud undergoes preprocessing steps, including noise…

Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset…

Multi-view 3D reconstruction applications are revolutionizing critical use cases that require rapid situational-awareness, such as emergency response, tactical scenarios, and public safety. In many cases, their near-real-time latency…

We, as human beings, can understand and picture a familiar scene from arbitrary viewpoints given a single image, whereas this is still a grand challenge for computers. We hereby present a novel solution to mimic such human perception…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…