相关论文: 3D Semantic Trajectory Reconstruction from 3D Pixe…

Landmark-based human action recognition in videos is a challenging task in computer vision. One key step is to design a generic approach that generates discriminative features for the spatial structure and temporal dynamics. To this end, we…

Three-dimensional trajectories, or the 3D position and rotation of objects over time, have been shown to encode key aspects of verb semantics (e.g., the meanings of roll vs. slide). However, most multimodal models in NLP use 2D images as…

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

It is difficult to perform 3D reconstruction from on-vehicle gathered video due to the large forward motion of the vehicle. Even object detection and human sensing models perform significantly worse on onboard videos when compared to…

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…

We frame the task of predicting a semantic labeling as a sparse reconstruction procedure that applies a target-specific learned transfer function to a generic deep sparse code representation of an image. This strategy partitions training…

Semantic trajectories are high level representations of user movements where several aspects related to the movement context are represented as heterogeneous textual labels. With the objective of finding a meaningful similarity measure for…

Reconstructing 3D shape from a single 2D image is a challenging task, which needs to estimate the detailed 3D structures based on the semantic attributes from 2D image. So far, most of the previous methods still struggle to extract semantic…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

In this paper, we present a method to reconstruct the world and multiple dynamic humans in 3D from a monocular video input. As a key idea, we represent both the world and multiple humans via the recently emerging 3D Gaussian Splatting…