相关论文: SceneCAD: Predicting Object Alignments and Layouts…

We present SPSG, a novel approach to generate high-quality, colored 3D models of scenes from RGB-D scan observations by learning to infer unobserved scene geometry and color in a self-supervised fashion. Our self-supervised approach learns…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

We propose an algorithm to predict room layout from a single image that generalizes across panoramas and perspective images, cuboid layouts and more general layouts (e.g. L-shape room). Our method operates directly on the panoramic image,…

Understanding a visual scene goes beyond recognizing individual objects in isolation. Relationships between objects also constitute rich semantic information about the scene. In this work, we explicitly model the objects and their…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

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…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

We introduce the Reality-linked 3D Scenes (R3DS) dataset of synthetic 3D scenes mirroring the real-world scene arrangements from Matterport3D panoramas. Compared to prior work, R3DS has more complete and densely populated scenes with…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

Generating 3D visual scenes is at the forefront of visual generative AI, but current 3D generation techniques struggle with generating scenes with multiple high-resolution objects. Here we introduce Lay-A-Scene, which solves the task of…