相关论文: X-Section: Cross-Section Prediction for Enhanced R…

3D reconstruction is a longstanding ill-posed problem, which has been explored for decades by the computer vision, computer graphics, and machine learning communities. Since 2015, image-based 3D reconstruction using convolutional neural…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

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…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

The reconstruction of indoor scenes from multi-view RGB images is challenging due to the coexistence of flat and texture-less regions alongside delicate and fine-grained regions. Recent methods leverage neural radiance fields aided by…

The introduction of the neural implicit representation has notably propelled the advancement of online dense reconstruction techniques. Compared to traditional explicit representations, such as TSDF, it improves the mapping completeness and…

Dynamic scene understanding is an essential capability in robotics and VR/AR. In this paper we propose Co-Section, an optimization-based approach to 3D dynamic scene reconstruction, which infers hidden shape information from intersection…

Previous RGB-D salient object detection (SOD) methods have widely adopted deep learning tools to automatically strike a trade-off between RGB and D (depth), whose key rationale is to take full advantage of their complementary nature, aiming…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

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.…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Occlusion is a common issue in 3D reconstruction from RGB-D videos, often blocking the complete reconstruction of objects and presenting an ongoing problem. In this paper, we propose a novel framework, empowered by a 2D diffusion-based…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

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…