相关论文: NASA: Neural Articulated Shape Approximation

We present a novel approach for estimating the 2D pose of an articulated object with an application to automated video analysis of small laboratory animals. We have found that deformable part models developed for humans, exemplified by the…

Visual AI systems are vulnerable to natural and synthetic physical corruption in the real-world. Such corruption often arises unexpectedly and alters the model's performance. In recent years, the primary focus has been on adversarial…

Deep implicit functions (DIFs) have emerged as a powerful paradigm for many computer vision tasks such as 3D shape reconstruction, generation, registration, completion, editing, and understanding. However, given a set of 3D shapes with…

Reconstructing three-dimensional (3D) structures from two-dimensional (2D) X-ray images is a valuable and efficient technique in medical applications that requires less radiation exposure than computed tomography scans. Recent approaches…

Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps,…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

Mesh is a powerful data structure for 3D shapes. Representation learning for 3D meshes is important in many computer vision and graphics applications. The recent success of convolutional neural networks (CNNs) for structured data (e.g.,…

We propose a novel neural architecture for representing 3D surfaces, which harnesses two complementary shape representations: (i) an explicit representation via an atlas, i.e., embeddings of 2D domains into 3D; (ii) an implicit-function…

Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…

Visual navigation requires a whole range of capabilities. A crucial one of these is the ability of an agent to determine its own location and heading in an environment. Prior works commonly assume this information as given, or use methods…

Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…

We introduce ART, Articulated Reconstruction Transformer -- a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object…

Unregistered surface meshes, especially raw 3D scans, present significant challenges for automatic computation of plausible deformations due to the lack of established point-wise correspondences and the presence of noise in the data. In…

Artificial Neuronal Networks are models widely used for many scientific tasks. One of the well-known field of application is the approximation of high-dimensional problems via Deep Learning. In the present paper we investigate the Deep…

Efficient and fast reconstruction of anatomical structures plays a crucial role in clinical practice. Minimizing retrieval and processing times not only potentially enhances swift response and decision-making in critical scenarios but also…

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…

We present a self-supervised method to learn dynamic 3D deformations of garments worn by parametric human bodies. State-of-the-art data-driven approaches to model 3D garment deformations are trained using supervised strategies that require…

Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…