相关论文: 3D Shape Perception from Monocular Vision, Touch, …

Building structured 3D scene layouts from a single image requires reconciling visual observations with physical and spatial constraints, a challenge that is difficult to address with direct prediction alone. In this work, we formulate…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

We propose a novel approach for monocular 3D object detection by leveraging local perspective effects of each object. While the global perspective effect shown as size and position variations has been exploited for monocular 3D detection…

We present a method for reconstructing accurate and consistent 3D hands from a monocular video. We observe that detected 2D hand keypoints and the image texture provide important cues about the geometry and texture of the 3D hand, which can…

Both humans and deep learning models can recognize objects from 3D shapes depicted with sparse visual information, such as a set of points randomly sampled from the surfaces of 3D objects (termed a point cloud). Although deep learning…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Photorealistic 3D head avatars are vital for telepresence, gaming, and VR. However, most methods focus solely on facial regions, ignoring natural hand-face interactions, such as a hand resting on the chin or fingers gently touching the…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…

The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

We propose a novel deep reinforcement learning-based approach for 3D object reconstruction from monocular images. Prior works that use mesh representations are template based. Thus, they are limited to the reconstruction of objects that…

We address the novel task of jointly reconstructing the 3D shape, texture, and motion of an object from a single motion-blurred image. While previous approaches address the deblurring problem only in the 2D image domain, our proposed…

The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…

Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…

Reconstructing a 3D object from a 2D image is a well-researched vision problem, with many kinds of deep learning techniques having been tried. Most commonly, 3D convolutional approaches are used, though previous work has shown…

In this paper, we introduce a new method for classifying 3D objects. Our main idea is to project a 3D object onto a spherical domain centered around its barycenter and develop neural network to classify the spherical projection. We…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…