相关论文: Complete 3D Scene Parsing from an RGBD Image

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

In this work, we propose a step towards a more accurate prediction of the environment light given a single picture of a known object. To achieve this, we developed a deep learning method that is able to encode the latent space of indoor…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

All current non-rigid structure from motion (NRSfM) algorithms are limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

Although neural radiance fields (NeRF) have shown impressive advances for novel view synthesis, most methods typically require multiple input images of the same scene with accurate camera poses. In this work, we seek to substantially reduce…

Complex 3D scene understanding has gained increasing attention, with scene encoding strategies playing a crucial role in this success. However, the optimal scene encoding strategies for various scenarios remain unclear, particularly…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

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…

We propose to recover 3D shape structures from single RGB images, where structure refers to shape parts represented by cuboids and part relations encompassing connectivity and symmetry. Given a single 2D image with an object depicted, our…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

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…

In this paper, we address the challenging problem of 3D concept grounding (i.e. segmenting and learning visual concepts) by looking at RGBD images and reasoning about paired questions and answers. Existing visual reasoning approaches…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

We propose a method at the intersection of Computer Vision and Computer Graphics fields, which automatically generates RGBD images using neural networks, based on previously seen and synchronized video, depth and pose signals. Since the…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

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…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…