相关论文: Learning elementary structures for 3D shape genera…

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…

While many works focus on 3D reconstruction from images, in this paper, we focus on 3D shape reconstruction and completion from a variety of 3D inputs, which are deficient in some respect: low and high resolution voxels, sparse and dense…

We present PriFit, a semi-supervised approach for label-efficient learning of 3D point cloud segmentation networks. PriFit combines geometric primitive fitting with point-based representation learning. Its key idea is to learn point…

3D perception of object shapes from RGB image input is fundamental towards semantic scene understanding, grounding image-based perception in our spatially 3-dimensional real-world environments. To achieve a mapping between image views of…

This paper addresses the challenges in representation learning of 3D shape features by investigating state-of-the-art backbones paired with both contrastive supervised and self-supervised learning objectives. Computer vision methods…

We propose 3Deformer, a general-purpose framework for interactive 3D shape editing. Given a source 3D mesh with semantic materials, and a user-specified semantic image, 3Deformer can accurately edit the source mesh following the shape…

Recent years have witnessed significant progress in the field of neural surface reconstruction. While the extensive focus was put on volumetric and implicit approaches, a number of works have shown that explicit graphics primitives such as…

In this work we explore how fine-grained differences between the shapes of common objects are expressed in language, grounded on images and 3D models of the objects. We first build a large scale, carefully controlled dataset of human…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

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…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

In this paper, we advocate the adoption of metric preservation as a powerful prior for learning latent representations of deformable 3D shapes. Key to our construction is the introduction of a geometric distortion criterion, defined…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

Foundation models for 3D shape generation have recently shown a remarkable capacity to encode rich geometric priors across both global and local dimensions. However, leveraging these priors for downstream tasks can be challenging as…

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

In this paper, we present a deep learning model that exploits the power of self-supervision to perform 3D point cloud completion, estimating the missing part and a context region around it. Local and global information are encoded in a…