相关论文: Matterport3D: Learning from RGB-D Data in Indoor E…

Accurate estimation of anthropometric body measurements from RGB images has many potential applications in industrial design, online clothing, medical diagnosis and ergonomics. Research on this topic is limited by the fact that there exist…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

Recently, by using deep neural network based algorithms, object classification, detection and semantic segmentation solutions are significantly improved. However, one challenge for 2D image-based systems is that they cannot provide accurate…

Human action recognition from RGB-D (Red, Green, Blue and Depth) data has attracted increasing attention since the first work reported in 2010. Over this period, many benchmark datasets have been created to facilitate the development and…

In order to operate autonomously, a robot should explore the environment and build a model of each of the surrounding objects. A common approach is to carefully scan the whole workspace. This is time-consuming. It is also often impossible…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…

Computer vision was long a tool used for aiding visually impaired people to move around their environment and avoid obstacles and falls. Solutions are limited to either indoor or outdoor scenes, which limits the kind of places and scenes…

In this work, we present 3DCoMPaT$^{++}$, a multimodal 2D/3D dataset with 160 million rendered views of more than 10 million stylized 3D shapes carefully annotated at the part-instance level, alongside matching RGB point clouds, 3D textured…

Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high-quality 3D scenes, and use it to test navigation agent generalization to realistic 3D environments. Our dataset represents real interiors and contains a diverse set of…

This paper addresses the task of estimating the light arriving from all directions to a 3D point observed at a selected pixel in an RGB image. This task is challenging because it requires predicting a mapping from a partial 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…

Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of…

Current state-of-the-art 3D reconstruction models face limitations in building extra-large scale outdoor scenes, primarily due to the lack of sufficiently large-scale and detailed datasets. In this paper, we present a extra-large…