相关论文: Dense Object Reconstruction from RGBD Images with …

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

We propose approaches based on deep learning to localize objects in images when only a small training dataset is available and the images have low quality. That applies to many problems in medical image processing, and in particular to the…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Deep implicit surfaces excel at modeling generic shapes but do not always capture the regularities present in manufactured objects, which is something simple geometric primitives are particularly good at. In this paper, we propose 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…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the…

Neural implicit representations have emerged as a powerful paradigm for 3D reconstruction. However, despite their success, existing methods fail to capture fine geometric details and thin structures, especially in scenarios where only…

Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Ordinal embedding aims at finding a low dimensional representation of objects from a set of constraints of the form "item $j$ is closer to item $i$ than item $k$". Typically, each object is mapped onto a point vector in a low dimensional…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…

In this paper, we address the problem of building dense correspondences between human images under arbitrary camera viewpoints and body poses. Prior art either assumes small motion between frames or relies on local descriptors, which cannot…

Today, most methods for image understanding tasks rely on feed-forward neural networks. While this approach has allowed for empirical accuracy, efficiency, and task adaptation via fine-tuning, it also comes with fundamental disadvantages.…

Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…

We present a method that tackles the challenge of predicting color and depth behind the visible content of an image. Our approach aims at building up a Layered Depth Image (LDI) from a single RGB input, which is an efficient representation…