相关论文: Higher Order Function Networks for View Planning a…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

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…

We present a simple yet effective general-purpose framework for modeling 3D shapes by leveraging recent advances in 2D image generation using CNNs. Using just a single depth image of the object, we can output a dense multi-view depth map…

We present ONeRF, a method that automatically segments and reconstructs object instances in 3D from multi-view RGB images without any additional manual annotations. The segmented 3D objects are represented using separate Neural Radiance…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…

Over the years, computer vision researchers have spent an immense amount of effort on designing image features for the visual object recognition task. We propose to incorporate this valuable experience to guide the task of training deep…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

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…

We present a framework, DISORF, to enable online 3D reconstruction and visualization of scenes captured by resource-constrained mobile robots and edge devices. To address the limited computing capabilities of edge devices and potentially…

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…

We propose a scalable neural network framework to reconstruct the 3D mesh of a human body from multi-view images, in the subspace of the SMPL model. Use of multi-view images can significantly reduce the projection ambiguity of the problem,…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

Face hallucination, which is the task of generating a high-resolution face image from a low-resolution input image, is a well-studied problem that is useful in widespread application areas. Face hallucination is particularly challenging…

Understanding the 3D world is a fundamental problem in computer vision. However, learning a good representation of 3D objects is still an open problem due to the high dimensionality of the data and many factors of variation involved. In…

Image representations, from SIFT and bag of visual words to Convolutional Neural Networks (CNNs) are a crucial component of almost all computer vision systems. However, our understanding of them remains limited. In this paper we study…

We present a simple yet powerful neural network that implicitly represents and renders 3D objects and scenes only from 2D observations. The network models 3D geometries as a general radiance field, which takes a set of 2D images with camera…

We present an attention-based model for recognizing multiple objects in images. The proposed model is a deep recurrent neural network trained with reinforcement learning to attend to the most relevant regions of the input image. We show…

Deep learning methods have typically been trained on large datasets in which many training examples are available. However, many real-world product datasets have only a small number of images available for each product. We explore the use…

Deep CNN-based methods have so far achieved the state of the art results in multi-view 3D object reconstruction. Despite the considerable progress, the two core modules of these methods - multi-view feature extraction and fusion, are…