相关论文: Occupancy Networks: Learning 3D Reconstruction in …

We present a new latent model of natural images that can be learned on large-scale datasets. The learning process provides a latent embedding for every image in the training dataset, as well as a deep convolutional network that maps the…

Service robots, in general, have to work independently and adapt to the dynamic changes happening in the environment in real-time. One important aspect in such scenarios is to continually learn to recognize newer object categories when they…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…

Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional…

Most state-of-the-art deep geometric learning single-view reconstruction approaches rely on encoder-decoder architectures that output either shape parametrizations or implicit representations. However, these representations rarely preserve…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

Current methods for 3D object reconstruction from a set of planar cross-sections still struggle to capture detailed topology or require a considerable number of cross-sections. In this paper, we present, to the best of our knowledge the…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

We present a novel neural surface reconstruction method, called NeuS, for reconstructing objects and scenes with high fidelity from 2D image inputs. Existing neural surface reconstruction approaches, such as DVR and IDR, require foreground…

Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…

The advent of generative radiance fields has significantly promoted the development of 3D-aware image synthesis. The cumulative rendering process in radiance fields makes training these generative models much easier since gradients are…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

We investigate recurrent neural networks with asymmetric interactions and demonstrate that the inclusion of self-couplings or sparse excitatory inter-module connections leads to the emergence of a densely connected manifold of dynamically…

Fast and robust three-dimensional reconstruction of facial geometric structure from a single image is a challenging task with numerous applications. Here, we introduce a learning-based approach for reconstructing a three-dimensional face…

Convolutional neural networks with spatio-temporal 3D kernels (3D CNNs) have an ability to directly extract spatio-temporal features from videos for action recognition. Although the 3D kernels tend to overfit because of a large number of…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…